Model Predictive Control for Tracking Bounded References With Arbitrary Dynamics

• 成果类型: Article
• 署名作者: Han, Shibo; Hou, Bonan; Zhang, Yuhao; Shi, Xiaotong; Zhao, Xingwei
• 署名单位: Hubei University; National University of Singapore; Singapore University of Technology & Design; Huazhong University of Science & Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2026.3662309
• 发表日期: 2026
• 关键词: MPC

摘要

In this article, a model predictive control (MPC) method is proposed for constrained linear systems to track bounded references generated by linear exosystems with arbitrary Lyapunov stable dynamics. In the proposed method, sudden changes in reference are taken into account and are addressed by introducing an artificial reference as an additional decision variable. The cost function penalizes both the artificial state error and the reference error, while the terminal constraint is imposed on the artificial state error and the artificial reference. We specify the requirements for the terminal constraint and the cost function to guarantee recursive feasibility of the proposed method and asymptotic stability of the tracking error. Then, periodic and nonperiodic references are analyzed, and methods are developed to determine the required cost function and terminal constraint. Finally, the efficiency of the proposed MPC controller is demonstrated with simulation examples.