Model Predictive Tracking Control Using Reference State Trajectory Given by Finite Time Tracking Control

Abstract

This paper proposes a method of tracking control based on model predictive controls. When model predicitve control are used for tracking control, some reference state and input trajectories are often employed. In this paper, we use, as the feference trajectories, state trajectories for perfect tracking, which we have characterized so far. The numerical examples show that quasi finite time tracking can be achieved even in the existing of disturbances and input constraints.