Receding horizon finite memory output tracking control and its application to inverted pendulum control

Choon Ki Ahn; Soohee Han; Wook Hyun Kwon

Receding horizon finite memory output tracking control and its application to inverted pendulum control

Choon Ki Ahn, Soohee Han, Wook Hyun Kwon

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, a new type of output feedback tracking control, called a receding horizon finite memory output tracking control (RHFMOTC), is proposed for discrete-time state-space systems. Constraints such as linearity and finite memory structure with respect to inputs/outputs and future output references, and unbiasedness from the optimal state feedback tracking control are required in advance. The RHFMOTC is chosen to minimize a receding horizon LQG tracking performance criterion with these constraints. The stability and the separation principle of the RHFMOTC are investigated. It is shown through application to inverted pendulum control that the RHFMOTC has the better tracking performance than the linear quadratic Gaussian tracking control (LQGTC).

Original language	English
Title of host publication	4th IFAC Symposium on Mechatronic Systems, MX 2006
Pages	403-408
Number of pages	6
Edition	PART 1
Publication status	Published - 2006
Externally published	Yes
Event	4th IFAC Symposium on Mechatronic Systems, MX 2006 - Heidelberg, Germany Duration: 2006 Sep 12 → 2006 Sep 14

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	PART 1
Volume	4
ISSN (Print)	1474-6670

Other

Other	4th IFAC Symposium on Mechatronic Systems, MX 2006
Country/Territory	Germany
City	Heidelberg
Period	06/9/12 → 06/9/14

Keywords

Finite impulse response (FIR) filter
Finite memory structure
Output feedback tracking control
Receding horizon tracking control (RHTC)

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

Receding horizon finite memory output tracking control and its application to inverted pendulum control. / Ahn, Choon Ki; Han, Soohee; Kwon, Wook Hyun.

4th IFAC Symposium on Mechatronic Systems, MX 2006. PART 1. ed. 2006. p. 403-408 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 4, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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abstract = "In this paper, a new type of output feedback tracking control, called a receding horizon finite memory output tracking control (RHFMOTC), is proposed for discrete-time state-space systems. Constraints such as linearity and finite memory structure with respect to inputs/outputs and future output references, and unbiasedness from the optimal state feedback tracking control are required in advance. The RHFMOTC is chosen to minimize a receding horizon LQG tracking performance criterion with these constraints. The stability and the separation principle of the RHFMOTC are investigated. It is shown through application to inverted pendulum control that the RHFMOTC has the better tracking performance than the linear quadratic Gaussian tracking control (LQGTC).",

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KW - Finite memory structure

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KW - Receding horizon tracking control (RHTC)

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Receding horizon finite memory output tracking control and its application to inverted pendulum control

Abstract

Publication series

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Keywords

ASJC Scopus subject areas

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