Receding horizon optimization enhanced robust GPMN control for a certain kind of nonlinear systems

In this paper, a new robust and optimization based nonlinear controller with respect to a certain kind of nonlinear disturbed systems is proposed based on control Lyapunov functions (CLF) concept and receding horizon control (RHC) scheme. This new controller can be divided into two components, one is the robust control law with measurable disturbance information; another is the robust receding horizon algorithm which is designed by combining the new given robust generalized pointwise min-norm scheme (RGPMN) to the traditional RHC. The most attractions of the new algorithm include that, (1) the closed loop BIBO stability can always be ensured; (2) the sub-optimality can be obtainable from the receding horizon strategy; and (3) the computational burden introduced by the receding horizon optimization of the final controller is regulable in different applications.