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Interpolation Based Control for reference tracking under constraints

Abstract : This article introduces an adaptation of the Interpolation Based Control technique developed recently for the constraint regulation. The aim of this work is to address the particularities of the trajectory tracking control problems in the presence of constraints. In this framework, the main challenge comes from translation of the constraint set as a result of the evolution of the trajectory to be tracked. Even if the trajectory satisfies the dynamical constraints, and those dynamics are linear, the translation of the constraints set leads to topological changes in the controllable regions. The associated controlled-invariant sets are difficult to compute online and alternative techniques which avoid set-iterations at each sampling instant need to be devised. The main idea in the present contribution is to build on the IBC regulation philosophy which proved the computational attractiveness and to adapt its ingredients to the trajectory tracking by constructing a virtual feasible trajectory with particular properties and enable the interpolation on scalable version of the controlled invariant sets designed initially for regulation. As a secondary objective, the analysis the shape of the real trajectory and the computational burden points to the possible parametrization of the virtual trajectory and enhance the proposed methodology.
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Contributor : Martin Soyer Connect in order to contact the contributor
Submitted on : Monday, January 27, 2020 - 6:15:28 PM
Last modification on : Tuesday, August 24, 2021 - 3:02:34 AM
Long-term archiving on: : Tuesday, April 28, 2020 - 10:49:56 PM


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  • HAL Id : hal-02457115, version 1


Martin Soyer, Sorin Olaru, Zhou Fang. Interpolation Based Control for reference tracking under constraints. European Control Conference 2020, May 2020, Saint Petersburg, Russia. ⟨hal-02457115⟩



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