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    A geometric approach to constrained tracking control

    Access Status
    Fulltext not available
    Authors
    Garone, E.
    Ntogramatzidis, Lorenzo
    Padula, Fabrizio
    Date
    2017
    Type
    Conference Paper
    
    Metadata
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    Citation
    Garone, E. and Ntogramatzidis, L. and Padula, F. 2017. A geometric approach to constrained tracking control, pp. 48-53.
    Source Title
    2016 Australian Control Conference, AuCC 2016
    DOI
    10.1109/AUCC.2016.7868001
    ISBN
    9781922107909
    School
    Department of Mathematics and Statistics
    URI
    http://hdl.handle.net/20.500.11937/52125
    Collection
    • Curtin Research Publications
    Abstract

    © 2016 Engineers Australia.This paper exploits some recent results on monotonic tracking control to solve tracking problems in the presence of polytopic constraints on the state and input functions. The control architecture involved is a simple state feedback control with a feedforward action from the reference. The proposed technique does not require an online optimisation procedure, thus reducing considerably the computational burden. Indeed, under suitable assumptions, the tracking problem can be recast as a quadratic programming problem that can be easily solved offline. When applicable, this method represents an advantage over well established techniques such as model predictive control.

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