Model Predictive Static Programming for Optimal Command Tracking: A Fast Model Predictive Control Paradigm

Kumar, Prem and Anoohya, Bhavya B and Padhi, Radhakant (2019) Model Predictive Static Programming for Optimal Command Tracking: A Fast Model Predictive Control Paradigm. In: JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 141 (2).

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Abstract

Inspired by fast model predictive control (MPC), a new nonlinear optimal command tracking technique is presented in this paper, which is named as ``Tracking-oriented Model Predictive Static Programming (T-MPSP).'' Like MPC, a model-based prediction-correction approach is adopted. However, the entire problem is converted to a very low-dimensional ``static programming'' problem from which the control history update is computed in closed-form. Moreover, the necessary sensitivity matrices (which are the backbone of the algorithm) are computed recursively. These two salient features make the computational process highly efficient, thereby making it suitable for implementation in real time. A trajectory tracking problem of a two-wheel differential drive mobile robot is presented to validate and demonstrate the proposed philosophy. The simulation studies are very close to realistic scenario by incorporating disturbance input, parameter uncertainty, feedback sensor noise, time delays, state constraints, and control constraints. The algorithm has been implemented on a real hardware and the experimental validation corroborates the simulation results.

Item Type:	Journal Article
Publication:	JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
Publisher:	ASME
Additional Information:	Copyright of this article belongs to ASME
Keywords:	Model Predictive Static Programming; MPSP; tracking-oriented MPSP; model predictive control; fast MPC; constrained MPC; mobile robot trajectory
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	10 Feb 2019 08:46
Last Modified:	10 Feb 2019 08:46
URI:	http://eprints.iisc.ac.in/id/eprint/61331

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