Reference Tracking MPC Using Dynamic Terminal Set Transformation

Among the many different formulations of Model Predictive Control (MPC) with guaranteed stability, one that has attracted significant attention is the formulation with a terminal cost and terminal constraint set, the so called dual mode formulation. In this technical note our goal is to make minimal changes to the dual mode framework, for the linear polytopic case, in order to develop a flexible reference tracking algorithm with guaranteed stability and low complexity, which is intuitive and easily understood. The main idea is to introduce a scaling variable that dynamically scales the terminal constraint set and therefore allows it to be centered around an arbitrary setpoint without violating the stability conditions. The main benefit of the algorithm is reduced complexity of the resulting QP compared to other state of art methods without loosing performance.
Funding Agencies|Linkoping University; Saab Aeronautics; Swedish Governmental Agency for Innovation Systems (VINNOVA); Center for industrial information technology (CENIIT)