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Robust MPC for Trajectory Tracking with Disturbance Rejection Control
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DOI：10.1016/j.ifacol.2025.09.561.png)
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Abstract
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This paper presents a model predictive control with an explicit action based on nominal predictions for trajectory tracking. The disturbance compensation control is integrated into the MPC strategy by an analytically modified target that defines the feedforward action under admissible conditions. In contrast to the related literature, the original control constraints are preserved, which avoids the definition of the disturbance rejection control bounds and requires no a priori control allocation. A case study illustrates the benefits of the disturbance compensation effect. Copyright (c) 2025 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
Keywords:
Model predictive control
Control of constrained systems
Tracking
Disturbance rejection
Robustness
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