Sampled-data tracking under model predictive control and multi-rate planning: Further simulations and remarks

Mohamed Elobaid (1, 2) , Mattia Mattioni (3) , Salvatore Monaco (3) , Dorothée Normand-Cyrot (1)

1 L2S - Laboratoire des signaux et systèmes
2 DIAG UNIROMA - Dipartimento di Ingegneria informatica automatica e gestionale [Roma]
3 UNIROMA - Università degli Studi di Roma "La Sapienza" = Sapienza University [Rome]

This technical report summarizes all the simulations performed for the PVTOL case study testing the control scheme proposed in [3], combining single-rate MPC with a multi-rate trajectory planner (MR MPC). The proposed scheme is compared to both stand-alone multi-rate control (MR) and a standard MPC controller with an cascade FIR based filters for trajectory generation (FIR MPC).

Domaines: Automatique

Mohamed Elobaid, Mattia Mattioni, Salvatore Monaco, Dorothée Normand-Cyrot. Sampled-data tracking under model predictive control and multi-rate planning: Further simulations and remarks. [Research Report] Dipartimento di Ingegneria Informatica, Automatica e Gestionale "A. Ruberti" - Università degli Studi di Roma La Sapienza. 2019. ⟨hal-02365409⟩