Safe Trajectory Tracking in Uncertain Environments

In Model Predictive Control (MPC) formulations of trajectory tracking problems, infeasible reference trajectories and a-priori unknown constraints can lead to cumbersome designs, aggressive tracking, loss recursive feasibility. This is the case, for example, in applications mobile systems presence which are not fully known a-priori. this paper, we propose a new framework called Flexible Tracking (MPFTC), relaxes requirement. Additionally, accommodate feasibility constraints, might render infeasible. proposed framework, constraint satisfaction guaranteed at all times while tracked as good allows, thus simplifying controller design reducing possibly behavior. The illustrated with three numerical examples.