Title :
Nonlinear receding-horizon output feedback control
Author :
Ohtsuka, T. ; Ohata, K.
Author_Institution :
Tsukuba Univ., Ibaraki, Japan
Abstract :
We propose an algorithm for nonlinear receding-horizon output feedback control by combining a real-time nonlinear optimal state feedback control algorithm and a real-time nonlinear optimal state estimation algorithm. The algorithms of state feedback control and state estimation are obtained by minimizing receding-horizon performance indexes. Application of the stabilized continuation method results in algorithms that do not involve any successive approximation methods. Simulation results of a 2-wheeled car clarify characteristics of the output feedback control algorithm
Keywords :
nonlinear control systems; optimal control; performance index; state estimation; state feedback; 2-wheeled car; nonlinear receding-horizon output feedback control; real-time nonlinear optimal state estimation; real-time nonlinear optimal state feedback control; receding-horizon performance index minimization; Control systems; Feedback control; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Optimal control; Output feedback; Performance analysis; State estimation; State feedback;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.649530
