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Suboptimal control of constrained nonlinear systems via receding horizon constrained control Lyapunov functions
Author(s) -
Sznaier Mario,
Suárez Rodolfo,
Cloutier James
Publication year - 2003
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.816
Subject(s) - control theory (sociology) , lyapunov function , controller (irrigation) , horizon , nonlinear system , trajectory , control (management) , mathematics , point (geometry) , computer science , mathematical optimization , physics , geometry , quantum mechanics , artificial intelligence , astronomy , agronomy , biology
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.