Safe Trajectory Tracking in Uncertain Environments
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Publication:6056465
DOI10.1109/TAC.2022.3207875arXiv2001.11602OpenAlexW4296425769MaRDI QIDQ6056465
Author name not available (Why is that?)
Publication date: 2 October 2023
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Abstract: In Model Predictive Control (MPC) formulations of trajectory tracking problems, infeasible reference trajectories and a-priori unknown constraints can lead to cumbersome designs, aggressive tracking, and loss of recursive feasibility. This is the case, for example, in trajectory tracking applications for mobile systems in the presence of constraints which are not fully known a-priori. In this paper, we propose a new framework called Model Predictive Flexible trajectory Tracking Control (MPFTC), which relaxes the trajectory tracking requirement. Additionally, we accommodate recursive feasibility in the presence of a-priori unknown constraints, which might render the reference trajectory infeasible. In the proposed framework, constraint satisfaction is guaranteed at all times while the reference trajectory is tracked as good as constraint satisfaction allows, thus simplifying the controller design and reducing possibly aggressive tracking behavior. The proposed framework is illustrated with three numerical examples.
Full work available at URL: https://arxiv.org/abs/2001.11602
stabilitysafetyuncertain constraintsnonlinear model predictive control (MPC)flexible trajectory trackingrrecursive feasibility
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