Suboptimal control of constrained nonlinear systems via receding horizon constrained control Lyapunov functions
Abstract
In this paper we propose a new controller design method, based on the combination of receding horizon and control Lyapunov functions, for nonlinear systems subject to input constraints. The main result shows that this control law renders the origin an asymptotically stable equilibrium point in the entire region where stabilization with constrained controls is feasible, while, at the same time, achieving near‐optimal performance. Contrary to other approaches, the proposed controller does not require forcing the trajectory at the end of the prediction horizon to lie in a region where the constraints are not binding, allowing for the use of (potentially substantially) smaller horizons in the optimization. Copyright © 2003 John Wiley & Sons, Ltd.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Feb 20, 2003
- Source ID
- 10.1002/rnc.816
Entities
People
- James Cloutier
- Mario Sznaier
- Rodolfo Suárez
Organizations
- Air Force Office of Scientific Research
- National Science Foundation