Local receding horizon control with contractive constraints

A novel local receding horizon control with contractive constraints is proposed in this paper. The main feature of the proposed control algorithm is to form open-loop optimizations in MPC locally. Thus the length of control horizons can be set relatively small, which is favorable for real-time applications. Moreover, the total and contractive coefficients in the proposed algorithm correspond to the prediction and control horizons in traditional MPC and they can be adjusted accordingly with clearer physical insights.