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Off-Line Reference Shaping of Periodic Trajectories for Constrained Systems With Uncertainties

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2 Author(s)
Hiromi Suzuki ; Dept. of Syst. Sci., Kyoto Univ., Kyoto ; Toshiharu Sugie

This paper is concerned with off-line reference shaping of infinite horizon periodic trajectories for uncertain closed-loop systems with state/input constraints. The method allows us to improve tracking performance subject to constraints in the presence of uncertainties. First, the reference shaping for nominal systems is proposed, which yields a suboptimal solution through decomposition of the infinite horizon tracking problem into two finite ones. Second, the method is extended to fulfill the constraints robustly.

Published in:

IEEE Transactions on Automatic Control  (Volume:53 ,  Issue: 6 )