MPC for tracking with optimal closed-loop performance.
Antonio FerramoscaDaniel LimónIgnacio AlvaradoTeodoro AlamoEduardo F. CamachoPublished in: Autom. (2009)
Keyphrases
- closed loop
- open loop
- control system
- trajectory tracking
- reference trajectory
- control scheme
- tracking error
- control law
- feedback control
- linear quadratic
- parameter identification
- asymptotic stability
- optimal solution
- external disturbances
- disturbance rejection
- force control
- feedback controller
- real time
- pid controller
- object tracking
- particle filter
- dynamic programming
- guaranteed cost
- nonlinear systems
- flight test
- optimal control
- kalman filter
- fuzzy logic
- reinforcement learning