A FLATNESS-BASED ITERATIVE METHOD FOR REFERENCE TRAJECTORY GENERATION IN CONSTRAINED NONLINEAR MODEL PREDICTIVE CONTROL
29 septembre 2008, Salle R05, au Centre Automatique et Systèmes, Fontainebleau.
14h30 : Jose DE DONA, University of Newcastle (Australia) and CAS.
In this talk we will present some initial ideas for a design methodology combining: (i) the differential flatness formalism for trajectory generation of nonlinear systems; and, (ii) model predictive control (MPC) for constraints handling. The methodology consists of a trajectory generator that generates a reference trajectory parameterised in some convenient form (e.g., using splines), and with the property that it satisfies a-priori desirable performance objectives. The reference trajectory is generated iteratively in accordance with information received from the MPC formulation. This interplay with MPC guarantees that the trajectory generator receives feedback from present and future constraints for real-time trajectory generation.
14h30 : Jose DE DONA, University of Newcastle (Australia) and CAS.
In this talk we will present some initial ideas for a design methodology combining: (i) the differential flatness formalism for trajectory generation of nonlinear systems; and, (ii) model predictive control (MPC) for constraints handling. The methodology consists of a trajectory generator that generates a reference trajectory parameterised in some convenient form (e.g., using splines), and with the property that it satisfies a-priori desirable performance objectives. The reference trajectory is generated iteratively in accordance with information received from the MPC formulation. This interplay with MPC guarantees that the trajectory generator receives feedback from present and future constraints for real-time trajectory generation.