Stabilizing Receding Horizon Control of Nonlinear Systems: A Control Lyapunov Function Approach

In this paper, a modiied version of the receding horizon control of nonlinear systems is proposed. The new approach is based on a nite horizon optimal control problem with an end point penalty. This method can be treated as an extension of recent results of De Nicolao et al. to the case where a globally stabilizing control law is available. Similar to the afore mentioned result, the end point penalty is the cost-to-go if a globally stabilizing control law is applied. The control law is computed a priori using a Control Lyapunov Function. It is further shown that stability is maintained if the vailable CLF is used as an end point penalty instead of the actual cost. The results are illustrated by applying this approach to the planar model of a ducted fan with a CLF obtained using Quasi LPV methods.