Title :
Stabilizing receding horizon control of nonlinear systems: a control Lyapunov function approach
Author :
Jadbabaie, Ali ; Yu, Jie ; Hauser, John
Author_Institution :
Dept. of Control & Dynamics Syst., California Inst. of Technol., Pasadena, CA, USA
Abstract :
A modified version of the receding horizon control of nonlinear systems is proposed. The approach is based on a finite horizon optimal control problem with a terminal cost. This method can be treated as an extension of results of De Nicolao et al. (1998). To the case where a control Lyapunov function (CLF)-based stabilizing control law is available. The terminal cost is picked to be a CLF which is also an upper bound on the cost-to-go if the stabilizing control law is applied. The control law is computed a priori using a CLF. Effectiveness of the results is illustrated by applying this approach to the planar model of a ducted fan with a CLF obtained using quasi LPV methods
Keywords :
Lyapunov methods; nonlinear control systems; optimal control; stability; control Lyapunov function approach; ducted fan; finite horizon optimal control problem; planar model; quasi LPV methods; stabilizing receding horizon control; terminal cost; Control design; Control systems; Cost function; Lyapunov method; Nonlinear control systems; Nonlinear systems; Optimal control; Postal services; Stability; Upper bound;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786082
