Receding horizon time-optimal control for a class of differentially flat systems
نویسندگان
چکیده
A closed-loop, time-optimal path-following control scheme is proposed for a class of constrained differentially flat systems. Within a receding horizon framework, a finite horizon optimisation problem is solved at each sample, using available state feedback and feedforward path information. Irrespective of horizon length, the proposed formulation guarantees exact path-following. Moreover, the requirements under which the proposed algorithm achieves minimum-time path-following are established. Simulations conducted with a rigid X–Y table model confirm the theoretical results. © 2015 Elsevier B.V. All rights reserved.
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ورودعنوان ژورنال:
- Systems & Control Letters
دوره 83 شماره
صفحات -
تاریخ انتشار 2015