Robust Receding Horizon based Trajectory Planning

This work presents a robust trajectory planning method for constrained linear time-invariant systems with uncertain parameters. The proposed trajectory planning method is inspired by receding horizon based control-for example model predictive control (MPC)-which enables the use of advantageous features of MPC, like the flexible choice of the cost functional and the handling of constraints, for trajectory planning purposes. The presented method, namely robust receding horizon based trajectory planning (robust RH-TP) improves the robust performance of the control system which means that the control performance should be as independent as possible from uncertain system parameters. Measurement results for a highly dynamical permanent magnet DC motor show that robust RH-TP is able to improve robust performance compared to (non-robust) RH-TP.