Real-Time Nonlinear Quadratic Trajectory Tracking Control for Polynomial Nonlinear Systems

Johannes Handler; Matthew Harker

doi:10.1016/j.ifacol.2025.11.032

Real-Time Nonlinear Quadratic Trajectory Tracking Control for Polynomial Nonlinear Systems

Johannes Handler
, Matthew Harker

University of Leoben

Research output: Contribution to journal › Conference article › peer-review

1 Citation (Scopus)

Abstract

This paper presents a real-time nonlinear quadratic trajectory tracking control (NLQTC) method for polynomial nonlinear state-space systems. Building on prior regulator designs, a stacked feedback control structure is developed, incorporating an additional term to enable trajectory tracking. The proposed approach guarantees fixed computational costs per control cycle, making it suitable for real-time applications. Validation on a nonlinear mass-spring-damper system demonstrates effective trajectory tracking. Comparative simulations against nonlinear model predictive control (NMPC) show that NLQTC achieves equivalent tracking accuracy while significantly improving computational efficiency.

Original language	English
Pages (from-to)	186-191
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	59
Issue number	19
DOIs	https://doi.org/10.1016/j.ifacol.2025.11.032
Publication status	Published - 1 Jul 2025
Event	13th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2025 - Reykjav�k, Iceland Duration: 23 Jul 2025 → 25 Jul 2025

!!!Keywords

optimal control
polynomial nonlinear systems
real-time
trajectory tracking

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10.1016/j.ifacol.2025.11.032

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@article{e89495ddb9564e22bb7486dde97d9583,

title = "Real-Time Nonlinear Quadratic Trajectory Tracking Control for Polynomial Nonlinear Systems",

abstract = "This paper presents a real-time nonlinear quadratic trajectory tracking control (NLQTC) method for polynomial nonlinear state-space systems. Building on prior regulator designs, a stacked feedback control structure is developed, incorporating an additional term to enable trajectory tracking. The proposed approach guarantees fixed computational costs per control cycle, making it suitable for real-time applications. Validation on a nonlinear mass-spring-damper system demonstrates effective trajectory tracking. Comparative simulations against nonlinear model predictive control (NMPC) show that NLQTC achieves equivalent tracking accuracy while significantly improving computational efficiency.",

keywords = "optimal control, polynomial nonlinear systems, real-time, trajectory tracking",

author = "Johannes Handler and Matthew Harker",

note = "Publisher Copyright: {\textcopyright} 2025 The Authors. This is an open access article under the CC BY-NC-ND license.; 13th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2025 ; Conference date: 23-07-2025 Through 25-07-2025",

year = "2025",

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doi = "10.1016/j.ifacol.2025.11.032",

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TY - JOUR

T1 - Real-Time Nonlinear Quadratic Trajectory Tracking Control for Polynomial Nonlinear Systems

AU - Handler, Johannes

AU - Harker, Matthew

PY - 2025/7/1

Y1 - 2025/7/1

N2 - This paper presents a real-time nonlinear quadratic trajectory tracking control (NLQTC) method for polynomial nonlinear state-space systems. Building on prior regulator designs, a stacked feedback control structure is developed, incorporating an additional term to enable trajectory tracking. The proposed approach guarantees fixed computational costs per control cycle, making it suitable for real-time applications. Validation on a nonlinear mass-spring-damper system demonstrates effective trajectory tracking. Comparative simulations against nonlinear model predictive control (NMPC) show that NLQTC achieves equivalent tracking accuracy while significantly improving computational efficiency.

AB - This paper presents a real-time nonlinear quadratic trajectory tracking control (NLQTC) method for polynomial nonlinear state-space systems. Building on prior regulator designs, a stacked feedback control structure is developed, incorporating an additional term to enable trajectory tracking. The proposed approach guarantees fixed computational costs per control cycle, making it suitable for real-time applications. Validation on a nonlinear mass-spring-damper system demonstrates effective trajectory tracking. Comparative simulations against nonlinear model predictive control (NMPC) show that NLQTC achieves equivalent tracking accuracy while significantly improving computational efficiency.

KW - optimal control

KW - polynomial nonlinear systems

KW - real-time

KW - trajectory tracking

UR - https://www.scopus.com/pages/publications/105022974199

U2 - 10.1016/j.ifacol.2025.11.032

DO - 10.1016/j.ifacol.2025.11.032

M3 - Conference article

AN - SCOPUS:105022974199

SN - 1474-6670

VL - 59

SP - 186

EP - 191

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 19

T2 - 13th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2025

Y2 - 23 July 2025 through 25 July 2025

ER -

Real-Time Nonlinear Quadratic Trajectory Tracking Control for Polynomial Nonlinear Systems

Abstract

!!!Keywords

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