Robust MPC for Trajectory Tracking with Disturbance Rejection Control

This paper presents a model predictive control with an explicit disturbance compensation 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.