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

Abstract : 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).
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Submitted on : Friday, November 15, 2019 - 1:43:13 PM
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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⟩

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