Development of a Closed Form Nonlinear Predictive Control Law Based on a Class of Wiener Models

2010 ◽  
Vol 49 (1) ◽  
pp. 148-165 ◽  
Author(s):  
Shraddha Deshpande ◽  
Sachin C. Patwardhan ◽  
Ravi Methekar ◽  
Raghunathan Rengaswamy
Keyword(s):  
Closed Form ◽  
Predictive Control ◽  
Control Law ◽  
Nonlinear Predictive Control ◽  
Wiener Models

scholarly journals Nonlinear Predictive Control With End Point Constraints

2006 ◽  
Vol 3 (1) ◽  
pp. 69
Author(s):  
R. Hedjar
Keyword(s):  
Predictive Control ◽  
Reference Signal ◽  
Control Law ◽  
Tracking Errors ◽  
End Point ◽  
Nonlinear Predictive Control ◽  
Control Scheme ◽  
Time Minimization ◽  
Asymptotic Tracking ◽  
Reference Trajectories

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. 

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