Nonlinear Predictive Control With End Point Constraints
The optimal nonlinear predictive control structure with end point constraints is presented, which provides asymptotic tracking of smooth reference trajectories. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the contr...
| Main Author: | |
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| Format: | Article |
| Language: | English |
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Sultan Qaboos University
2006-12-01
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| Series: | The Journal of Engineering Research |
| Subjects: | |
| Online Access: | https://journals.squ.edu.om/index.php/tjer/article/view/41 |
| _version_ | 1818495549581557760 |
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| author | R. Hedjar |
| author_facet | R. Hedjar |
| author_sort | R. Hedjar |
| collection | DOAJ |
| description | The optimal nonlinear predictive control structure with end point constraints is presented, which provides asymptotic tracking of smooth reference trajectories. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the control law is that its implementation does not need to perform an online optimization, and asymptotic tracking of smooth reference signal is guaranteed. The proposed control scheme is applied to planning motions problem of a mobile robot. Simulations results are performed to validate the tracking performance of the proposed controller. |
| first_indexed | 2024-12-10T18:21:59Z |
| format | Article |
| id | doaj.art-ea5e31648eb840889b191bcf22cee4e7 |
| institution | Directory Open Access Journal |
| issn | 1726-6009 1726-6742 |
| language | English |
| last_indexed | 2024-12-10T18:21:59Z |
| publishDate | 2006-12-01 |
| publisher | Sultan Qaboos University |
| record_format | Article |
| series | The Journal of Engineering Research |
| spelling | doaj.art-ea5e31648eb840889b191bcf22cee4e72022-12-22T01:38:10ZengSultan Qaboos UniversityThe Journal of Engineering Research1726-60091726-67422006-12-0131697410.24200/tjer.vol3iss1pp69-7441Nonlinear Predictive Control With End Point ConstraintsR. Hedjar0Computer Engineering Department, College of Computer and Information Sciences - King Saud University, P.O.Box 51178- Riyadh 11543, Saudi ArabiaThe optimal nonlinear predictive control structure with end point constraints is presented, which provides asymptotic tracking of smooth reference trajectories. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the control law is that its implementation does not need to perform an online optimization, and asymptotic tracking of smooth reference signal is guaranteed. The proposed control scheme is applied to planning motions problem of a mobile robot. Simulations results are performed to validate the tracking performance of the proposed controller.https://journals.squ.edu.om/index.php/tjer/article/view/41nonlinear predictive control, stability, mobile robot and tracking trajectory |
| spellingShingle | R. Hedjar Nonlinear Predictive Control With End Point Constraints The Journal of Engineering Research nonlinear predictive control, stability, mobile robot and tracking trajectory |
| title | Nonlinear Predictive Control With End Point Constraints |
| title_full | Nonlinear Predictive Control With End Point Constraints |
| title_fullStr | Nonlinear Predictive Control With End Point Constraints |
| title_full_unstemmed | Nonlinear Predictive Control With End Point Constraints |
| title_short | Nonlinear Predictive Control With End Point Constraints |
| title_sort | nonlinear predictive control with end point constraints |
| topic | nonlinear predictive control, stability, mobile robot and tracking trajectory |
| url | https://journals.squ.edu.om/index.php/tjer/article/view/41 |
| work_keys_str_mv | AT rhedjar nonlinearpredictivecontrolwithendpointconstraints |