Primbs, James A. and Nevistić, Vesna and Doyle, John C. (2000) A receding horizon generalization of pointwise min-norm controllers. IEEE Transactions on Automatic Control, 45 (5). pp. 898-909. ISSN 0018-9286 http://resolver.caltech.edu/CaltechAUTHORS:PRIieeetac00
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Control Lyapunov functions (CLFs) are used in conjunction with receding horizon control to develop a new class of receding horizon control schemes. In the process, strong connections between the seemingly disparate approaches are revealed, leading to a unified picture that ties together the notions of pointwise min-norm, receding horizon, and optimal control. This framework is used to develop a CLF based receding horizon scheme, of which a special case provides an appropriate extension of Sontag's formula. The scheme is first presented as an idealized continuous-time receding horizon control law. The issue of implementation under discrete-time sampling is then discussed as a modification. These schemes are shown to possess a number of desirable theoretical and implementation properties. An example is provided, demonstrating their application to a nonlinear control problem. Finally, stronger connections to both optimal and pointwise min-norm control are proved.
|Additional Information:||© Copyright 2000 IEEE. Reprinted with permission. Manuscript received April 4, 1999; revised July 23, 1999. Recommeded by Associate Editor, M. Krstic.|
|Subject Keywords:||Control Lyapunov functions, nonlinear optimal control, predictive control, receding horizon control|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Archive Administrator|
|Deposited On:||29 Mar 2006|
|Last Modified:||26 Dec 2012 08:48|
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