Scientific Journal of Control Engineering

August 2013, Volume 3, Issue 4, PP.295-300

Robust Nonlinear Model Predictive Controller in

Tracking Problem
Yafeng Wang, Rongchang Gong, Kejun Long
The Aviation general office in Guangzhou bureau of naval general armaments department, Anshun 561018, China
Email:

wyfyxy@sina.com

Abstract
For the tracking problem of nonlinear system, the concept of roughly tracking was introduced and the terminal tracking error
constraint was replaced by the tracking error constraint in the next instant relative to the present instant in the optimization
problem of model predictive control. Then, the robust model predictive controller was designed and the stability of model
predictive controller was analysed. Finally, the simulation result showed the tracking effect of using the proposed model predictive
controller.
Keywords: Tracking Problem; Nonlinear System; Model Predictive Control

561018

[1][2]
[3][4][5]

yk 1 f yk , uk

(1)

yk R uk R k f , yk uk
n

Lipschitz yk Y uk U Y U

Yref yref 0 , yref 1 , , yref Yref
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e y yref
1 Er e | e

y yr e f E r
1

N 1

min J u, y0 q y i, y0 yref i

u i , y0 U

i 0

F y N , y0 yref N

s.t. y i 1, y0 f y i, y0 , u i, y0
y i 1, y0 Y , u i, y0 U , i 0,..., N 1
y 1, y0 yref 1 Er

(2)

k
N 1

min J u, yk q y i, yk yref i k

u i , yk U

i 0

F y N , yk yref N k

s.t. y i 1, yk f y i, yk , u i, yk
y i 1, yk Y , u i, yk U , i 0,..., N 1
y 1, yk yref 1 k Er

(3)

(3)

q y i, yk yref i k

y i, yk yref i k Q y i, yk yref i k
T

F y N , yk yref N k

y N , yk yref N k Q y N , yk yref N k
T

(4)

k y 0, yk yk q y 0, yk yref k
(3)
N 1

min J u, yk q y i 1, yk yref i 1 k

u i , yk U

i 0

s.t. y i 1, yk f y i, yk , u i, yk
y i 1, yk Y , u i, yk U , i 0,..., N 1
y 1, yk yref 1 k Er
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(5)

(5) k 1 yref 1 k

1 yref k Yref e Er u yref k , e U

f yref k e, u yref k , e yref k 1 Er

1 1 y0 yref 0 Er (5)
Er Yref
k (5) (5)

u i, yk , i 0,1,2, N 1 u 0, yk k 1 (5) k 1
yk 1

yk 1 yref 1 k Er

ek 1 Er

1 u yref k 1 , ek 1 U

f yk 1, u yref k 1 , ek 1 yref k 2 Er
k 1
y0 yref 0 Er
Yref

yk 1 f yk , uk wk

(6)

k
N 1

min max J u, yk q y i 1, yk yref i 1 k

u i , yk U wi W

i 0

s.t. y i 1, yk f y i, yk , u i, yk wk i
y i 1, yk Y , u i, yk U , i 0,..., N 1
y 1, yk yref 1 k Er

(7)

2 yref k Yref e Er wk W u yref k , e U

f yref k e, u yref k , e wk yref k 1 Er

2 1

2 2 y0 yref 0 Er (7)
Er Yref
2 1
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Er W Er
W Er Er W Er
Er Er

0.2 y1 k
y1 k 1 y1 k Ts

2
1 y1 k
Ts sin u1 k 1.5u2 k w1 k

y2 k 1 y2 k Ts 0.2u1 k

1.5u2 k

Ts
0.6 y2 k w2 k
2
1 u2 k

Ts 0.1s W

w , w w
1

0.01, w2 0.01

U u1 , u2 u1 1, u2 1 Y y1, y2 y1 2, y2 2

y1,ref k 0.5 1 sin k / 20

e y1 y1 y1,ref 0.005

y2,ref k 0.5 1 cos k / 20 Er e y1 , e y 2

e y2 y2 y2,ref 0.005

k 0,1, 2, ,

(7)

y1,ref k 0.5 1 sin k / 20

e1 y y

0.03

1
1,ref
y
y2,ref k 0.5 1 cos k / 20 Er
e y , e y 2

e y y2 y2,ref 0.03

k 0,1, 2, ,
1

y1

2
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y2

y1

y2

y1,ref k 1 1 sin k / 20

e y1 y1 y1,ref 0.03

y2,ref k 1 1 cos k / 20 Er e y1 , e y 2

e y2 y2 y2,ref 0.03

k 0,1, 2, ,

y1

y2

2(7)

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Journal on Control and Optimization, 2000, 38: 971-994
[3] Fiacchini M, et al. Predictive control of a linear motor for tracking of constant references [C]. In Proceedings of the CDC. 2006
[4] Chisci L and Zappa G. Dual mode predictive tracking of piecewise constant references for constrained linear systems [J].
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International Journal of Control, 2003, 76(1): 61-72

[5] Limon D, et al. MPC for tracking piecewise constant references for constrained linear systems [J]. Automatica, 2008, 44: 1-6

1982-

1976-

2004

2001

2007

Email: kalman_2008@163.com

2010

Email: wyfyxy@sina.com

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