Abstract
In this paper the optimal nonlinear predictive control structure with integral action is presented, which provides asymptotic tracking of smooth reference trajectories and robustness to parameters uncertainties. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the control law is that its implementation does not need to perform an online optimization. The proposed control scheme is applied to the trajectory-tracking problem of a rigid link manipulator. Simulations results are performed to validate the tracking performance and robustness of the proposed controller
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