Harmonic Model Predictive Control for Tracking Sinusoidal References and Its Application to Trajectory Tracking

• 成果类型: Article
• 署名作者: Krupa, Pablo; Limon, Daniel; Bemporad, Alberto; Alamo, Teodoro
• 署名单位: IMT School for Advanced Studies Lucca; University of Sevilla
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3549348
• 发表日期: 2025
• 关键词: MPC

摘要

Harmonic model predictive control (HMPC) is a recent model predictive control (MPC) formulation for tracking piece-wise constant references that includes a parameterized artificial harmonic reference as a decision variable, resulting in an increased performance and domain of attraction with respect to other MPC formulations. This article presents an extension of the HMPC formulation to track periodic harmonic/sinusoidal references and discusses its use for tracking arbitrary trajectories. The proposed formulation inherits the benefits of its predecessor, namely its good performance and large domain of attraction when using small prediction horizons, and that the complexity of its optimization problem does not depend on the period of the reference. We show closed-loop results discussing its performance and comparing it to other MPC formulations.