Title :
A new model predictive control strategy for affine nonlinear control systems
Author :
Lizarralde, Fernando ; Wen, John T. ; Hsu, Liu
Author_Institution :
Dept. of Electron. Eng., Fed. Univ. of Rio de Janeiro, Brazil
Abstract :
This paper considers the stabilization problem for control-affine nonlinear systems. A gradient-based numerical method is proposed to solve this problem. A receding horizon strategy, from model predictive control, is used to yield a feedback control law. We show that, under certain weak assumptions, the closed-loop system is asymptotically stable. The full swing-up of the cartpole system shows the possibility of considering fast nonlinear systems
Keywords :
asymptotic stability; closed loop systems; feedback; gradient methods; nonlinear control systems; predictive control; stability; affine nonlinear control systems; asymptotic stability; cart-pole system; cartpole system; closed-loop system; fast nonlinear systems; feedback control law; full swing-up; gradient-based numerical method; inverted pendulum; model predictive control; receding horizon strategy; stabilization; Asymptotic stability; Control systems; Feedback control; Feedback loop; Nonlinear control systems; Nonlinear systems; Open loop systems; Optimal control; Predictive control; Predictive models;
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.1999.786368
