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

Volume

3

fYear

1999

fDate

1999

Firstpage

1535

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1999. Proceedings of the 1999

Conference_Location

San Diego, CA

ISSN

0743-1619

Print_ISBN

0-7803-4990-3

Type

conf

DOI

10.1109/ACC.1999.786082

Filename

786082