A geometric approach to constrained tracking control

This paper exploits some recent results on monotonic tracking control to solve tracking problems in the presence of polytopic constraints on the state and input functions. The control architecture involved is a simple state feedback control with a feedforward action from the reference. The proposed technique does not require an online optimisation procedure, thus reducing considerably the computational burden. Indeed, under suitable assumptions, the tracking problem can be recast as a quadratic programming problem that can be easily solved offline. When applicable, this method represents an advantage over well established techniques such as model predictive control.