In this paper, output tracking of a geometric path for a nonlinear uncertain system with input and state constraints is considered. We propose an enhanced two-loop model predictive control approach for output tracking of a nonlinear uncertain system. Additionally, we propose an optimal version of output path following control problem to improve the controller synthesis. Satisfaction of the dynamical constraints of a system such as velocity, acceleration and jerk limitations is added to the problem introducing a new augmented system. The recursive feasibility of the proposed method is demonstrated, and its robust stability is guaranteed such that relaxation on the terminal constraint and penalty are achieved. To validate the theoretical benefits of the proposed controller, it is simulated on a SCARA robot manipulator and the results are compared with a two-loop model predictive controller successfully.

在本文中，考虑了具有输入和状态约束的非线性不确定系统的几何路径的输出跟踪。我们提出了一种增强的两环模型预测控制方法，用于非线性不确定系统的输出跟踪。另外，我们提出了输出路径跟随控制问题的最佳版本，以改善控制器的综合性能。对系统动力学约束（例如速度，加速度和加速度率限制）的满足会增加引入新增强系统的问题。证明了该方法的递归可行性，并保证了其鲁棒稳定性，从而实现了对终端约束的放松和惩罚。为了验证所建​​议控制器的理论优势，