A predictive control algorithm is presented that uses a weighted sum of linear quadratic (LQ)
optimal predictions and'mean level'predictions. Each time step only a single weighting …

The paper deals with the constrained model predictive control and tries to identify the
influences of the redundancy in the constraints when developing explicit laws. Methods exist …

Constraint handling in conventional predictive controllers requires the online solution of
quadratic programs, this can be computationally very demanding. The optimisations …

A generalized predictive controller for systems with constrained input and output signals is
presented. The optimum values of the future control signals are obtained by transforming the …

The paper discusses predictive control algorithms in the context of applications to robotics
and manufacturing systems. Special features of such systems, as compared to traditional …

Abstract Model Predictive Control (MPC) is applied to a pendulum system consisting of a
pendulum and a cart. The objective of the MPC-controller is to steer the system towards …

This paper proposes an optimal control strategy for a differential-drive mobile robot. It is well
known that such a system can not be feedback stabilized by a smooth time-invariant control …

A novel predictive controller for constrained linear time-varying systems with polytopic
uncertainty is presented. The algorithm minimises an upper bound on the predicted …

A new model predictive control (MPC) algorithm for uncertain systems is presented. This
approach is less conservative than" robust MPC" and is equivalent to standard model …

Input constraints present a major difficulty in the design of stable predictive controllers. A
convenient way to guarantee stability is to ensure short-term feasibility, that is to ensure the …