Nonlinear predictive command governors for constrained tracking
A method for solving an input/output constrained tracking problem is presented. The method is based on the linear parametrizing of the virtual command sequences and choosing at each sampling time the free parameter vector as the one minimizing a constrained quadratic selection index (see also \textit{A. Bemporad}, \textit{A. Casavola}, and \textit{E. Mosca} [IEEE Trans. Autom. Control 42, No. 3, 340-349 (1997; Zbl 0873.93034)]). The first step is accomplished in a way which considerably simplifies the stability analysis. The solvability aspects related to the optimization of the introduced nonlinear control device (command governor) are also considered. The overall system is proved to fulfill the constraints, to be asymptotically stable, and exhibit an offset-free tracking behaviour. Two simulation examples are chosen to demonstrate the results achievable by the proposed receding horizon control strategy. For the entire collection see [Zbl 0864.00079].
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