Receding horizon time-optimal control for a class of differentially flat systems |
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Affiliation: | 1. Department of Automation and Systems Engineering, Federal University of Santa Catarina, Brazil;2. Department of Computer Engineering, Federal University of Technology Paraná, Brazil;3. Department of Electrical Engineering, Federal University of Santa Catarina, Brazil |
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Abstract: | A closed-loop, time-optimal path-following control scheme is proposed for a class of constrained differentially flat systems. Within a receding horizon framework, a finite horizon optimisation problem is solved at each sample, using available state feedback and feedforward path information. Irrespective of horizon length, the proposed formulation guarantees exact path-following. Moreover, the requirements under which the proposed algorithm achieves minimum-time path-following are established. Simulations conducted with a rigid X–Y table model confirm the theoretical results. |
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Keywords: | Model predictive control Time optimal control Differentially flat systems |
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