A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is
2020 European Control Conference (ECC)
This article introduces an adaptation of the Interpolation Based Control technique developed recently for the constraint regulation. The aim of this work is to address the particularities of the trajectory tracking control problems in the presence of constraints. In this framework, the main challenge comes from translation of the constraint set as a result of the evolution of the trajectory to be tracked. Even if the trajectory satisfies the dynamical constraints, and those dynamics are linear,doi:10.23919/ecc51009.2020.9143716 fatcat:urme6nyd7jhu5bwiw7tdcgdtly