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.
Skip Nav Destination
Article navigation
February 2019
Research-Article
Model Predictive Static Programming for Optimal Command Tracking: A Fast Model Predictive Control Paradigm
Prem Kumar,
Prem Kumar
Department of Aerospace Engineering,
Indian Institute of Science,
Bangalore 560012, India
Indian Institute of Science,
Bangalore 560012, India
Search for other works by this author on:
B. Bhavya Anoohya,
B. Bhavya Anoohya
Department of Aerospace Engineering,
Indian Institute of Science,
Bangalore 560012, India
Indian Institute of Science,
Bangalore 560012, India
Search for other works by this author on:
Radhakant Padhi
Radhakant Padhi
Professor
Department of Aerospace Engineering,
Indian Institute of Science,
Bangalore 560012, India
e-mail: padhi@iisc.ac.in
Department of Aerospace Engineering,
Indian Institute of Science,
Bangalore 560012, India
e-mail: padhi@iisc.ac.in
Search for other works by this author on:
Prem Kumar
Department of Aerospace Engineering,
Indian Institute of Science,
Bangalore 560012, India
Indian Institute of Science,
Bangalore 560012, India
B. Bhavya Anoohya
Department of Aerospace Engineering,
Indian Institute of Science,
Bangalore 560012, India
Indian Institute of Science,
Bangalore 560012, India
Radhakant Padhi
Professor
Department of Aerospace Engineering,
Indian Institute of Science,
Bangalore 560012, India
e-mail: padhi@iisc.ac.in
Department of Aerospace Engineering,
Indian Institute of Science,
Bangalore 560012, India
e-mail: padhi@iisc.ac.in
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received August 27, 2017; final manuscript received August 28, 2018; published online October 19, 2018. Assoc. Editor: Soo Jeon.
J. Dyn. Sys., Meas., Control. Feb 2019, 141(2): 021014 (12 pages)
Published Online: October 19, 2018
Article history
Received:
August 27, 2017
Revised:
August 28, 2018
Citation
Kumar, P., Anoohya, B. B., and Padhi, R. (October 19, 2018). "Model Predictive Static Programming for Optimal Command Tracking: A Fast Model Predictive Control Paradigm." ASME. J. Dyn. Sys., Meas., Control. February 2019; 141(2): 021014. https://doi.org/10.1115/1.4041356
Download citation file:
Get Email Alerts
Offset-Free Koopman Model Predictive Control of Thermal Comfort Regulation for A VRF-DOAS Combined System
J. Dyn. Sys., Meas., Control
Rejection of Sinusoidal Disturbances With Unknown Slowly Time-Varying Frequencies for Linear Time-Varying Systems
J. Dyn. Sys., Meas., Control (July 2024)
Using Control Barrier Functions to Incorporate Observability: Application to Range-Based Target Tracking
J. Dyn. Sys., Meas., Control (July 2024)
Gas Path Fault Diagnosis of Turboshaft Engine Based on Novel Transfer Learning Methods
J. Dyn. Sys., Meas., Control (May 2024)
Related Articles
Markov Chain Monte Carlo Parameter Estimation for Nonzero Slip Models of Wheeled Mobile Robots: A Skid-Steer Case Study
J. Mechanisms Robotics (October,2021)
Predictive Control for Time-Delayed Switching Control Systems
J. Dyn. Sys., Meas., Control (December,2006)
Fast Data-Driven Model Predictive Control Strategy for Connected and Automated Vehicles
Letters Dyn. Sys. Control (October,2021)
Distributed Robust Control of Compliant Framed Wheeled Modular Mobile Robots
J. Dyn. Sys., Meas., Control (September,2006)
Related Proceedings Papers
Related Chapters
Network Video Monitor Based on Embedded Linux and VC++
International Conference on Advanced Computer Theory and Engineering (ICACTE 2009)
A Novel Approach for LFC and AVR of an Autonomous Power Generating System
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
FKT Based Linear Precoding for Multiuser Multiple Input Multuple Output System
International Conference on Computer Engineering and Technology, 3rd (ICCET 2011)