112 citations · 217 across the 21 of their papers we have counts for
7 papers · 1 filter
Recent advancements on MPC for tracking: periodic and harmonic formulations
Pablo Krupa, Daniel Limon, Teodoro Alamo
The main benefit of model predictive control (MPC) is its ability to steer the system to a given reference without violating the constraints while minimizing some objective. Furthe…
Model predictive control for tracking using artificial references: Fundamentals, recent results and practical implementation
Pablo Krupa, Johannes Köhler, Antonio Ferramosca +4
This paper provides a comprehensive tutorial on a family of Model Predictive Control (MPC) formulations, known as MPC for tracking, which are characterized by including an artifici…
MPC for Tracking applied to rendezvous with non-cooperative tumbling targets ensuring stability and feasibility
Jose Antonio Rebollo, Rafael Vazquez, Ignacio Alvarado +1
A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional…
Implementation of soft-constrained MPC for Tracking using its semi-banded problem structure
Victor Gracia, Pablo Krupa, Daniel Limon +1
Model Predictive Control (MPC) is a popular control approach due to its ability to consider constraints, including input and state restrictions, while minimizing a cost function. H…
Model Predictive Control for setpoint tracking
Daniel Limon, Antonio Ferramosca, Ignacio Alvarado +1
The main objective of tracking control is to steer the tracking error, that is the difference between the reference and the output, to zero while the plant's operation limits are s…
Nonlinear model predictive control-based guidance law for path following of unmanned surface vehicles
G. Bejarano, J. M. Manzano, J. R. Salvador +1
This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addit…