Abstract
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.
Keywords
Subject
Publication details
- DOI
- 10.24200/tjer.vol3iss1pp69-74
- Journal
- The Journal of Engineering Research, 3(1), 69
- Publisher
- Sultan Qaboos University
- Open access
- Gold open access
- License
- CC BY 4.0
Cite this article
APA 7
Hedjar, R. (2006). Nonlinear Predictive Control With End Point Constraints. The Journal of Engineering Research, 3(1), 69. https://doi.org/10.24200/tjer.vol3iss1pp69-74
MLA 9
Hedjar, Ramdane. "Nonlinear Predictive Control With End Point Constraints." The Journal of Engineering Research, vol. 3, no. 1, 2006, pp. 69. https://doi.org/10.24200/tjer.vol3iss1pp69-74.
Chicago (author–date)
Hedjar, Ramdane. 2006. "Nonlinear Predictive Control With End Point Constraints." The Journal of Engineering Research 3 (1): 69. https://doi.org/10.24200/tjer.vol3iss1pp69-74.
Harvard
Hedjar, R. (2006) 'Nonlinear Predictive Control With End Point Constraints', The Journal of Engineering Research, 3(1), pp. 69. doi:10.24200/tjer.vol3iss1pp69-74.
Vancouver
Hedjar R. Nonlinear Predictive Control With End Point Constraints. The Journal of Engineering Research. 2006;3(1):69. doi:10.24200/tjer.vol3iss1pp69-74
IEEE
R. Hedjar, "Nonlinear Predictive Control With End Point Constraints," The Journal of Engineering Research, vol. 3, no. 1, pp. 69, 2006, doi: 10.24200/tjer.vol3iss1pp69-74.