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Erschienen in:
Introduction Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

7. Robust Tracking with Soft Constraints

verfasst von : Marco Gallieri

Erschienen in: Lasso-MPC – Predictive Control with ℓ1-Regularised Least Squares

Verlag: Springer International Publishing

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Abstract

It is becoming standard among researchers to use a terminal constraint in MPC. This constraint generally depends on the particular set-point we want to regulate the plant to. For changing set-points this means changing the terminal constraint, which could make the problem infeasible.

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Vorheriges Kapitel Design of LASSO MPC for Prioritised and Auxiliary Actuators
Nächstes Kapitel Ship Roll Reduction with Rudder and Fins
Fußnoten
1
This controller is used for proving the proposed results and is not applied to the plant during operations.
 
2
The notation \(\mathbb {X}_f(\theta )+M_x\theta \) stands for the set \(\mathbb {X}_f(\theta )\) with its centre shifted to \(M_x\theta \).
 
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Metadaten
Titel
Robust Tracking with Soft Constraints
verfasst von
Marco Gallieri
Copyright-Jahr
2016
Buch
Lasso-MPC – Predictive Control with ℓ1-Regularised Least Squares

Print ISBN: 978-3-319-27961-9

Electronic ISBN: 978-3-319-27963-3

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-27963-3_7

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