Model Predictive Periodic Output Path Following

Abstract

In this paper, a new model predictive controller forpath following of periodic references is proposed. This controllercombines trajectory planning and tracking stages in a singleoptimization problem for a given periodic parametric path. Inaddition, the constraints of the optimization problem solved bythe controller do not depend on the reference, allowing for suddenchanges in the reference without losing feasibility. To illustratethe performance of the approach we discuss the example of balland plate system.