Sampled-Data Tracking under Model Predictive Control and Multi-Rate Planning
04 Pubblicazione in atti di convegno
ELOBAID MOHAMED, MATTIONI MATTIA, MONACO Salvatore, Dorothée Normand-Cyrot
ISSN: 2405-8963
In this paper, a new control scheme for sampled-data nonlinear model predictive control is proposed making use of a multi-rate based trajectory planning for designing admissible references over the prediction horizon. The proposed controller is compared with existing reference generators for model predictive control through simulations over a benchmark example.