Enhancements for Contractive Receding Horizon Control
نویسندگان
چکیده
We propose a new stability constraint for contractive receding horizon control (RHC), which was inspired by a non-monotone line search rule for optimization algorithms. Previously proposed stability constraints for contractive RHC can be seen as special cases of our new constraint. The new stability constraint guarantees asymptotic stability, but it does not ensure the monotone decrease of the state to zero. The non-monotone nature of our constraint is less restrictive than previous contractive constraints, and in principle, should result in a larger region of attraction (stability region). We present simulation results which show that this is in fact the case. We also present several enhancements which result in a faster system response and/or a larger stability region.
منابع مشابه
A Receding Horizon Strategy for Systems with Interval-Wise Energy Constraints
We propose a receding horizon control strategy that readily handles systems that exhibit interval-wise total energy constraints on the input control sequence. The approach is based on a variable optimization horizon length and contractive final state constraint sets. The optimization horizon, which recedes by N steps every N steps, is the key to accommodate the interval-wise total energy constr...
متن کاملDesign of Distributed Optimal Adaptive Receding Horizon Control for Supply Chain of Realistic Size under Demand Disturbances
supply chain network receding horizon control demand move suppression term Supply chain networks are interconnection and dynamics of a demand network. Example subsystems, referred to as stages, include raw materials, distributors of the raw materials, manufacturers, distributors of the manufactured products, retailers, and customers. The main objectives of the control strategy for the s...
متن کاملReceding Horizon Based Control of Disturbed Upright Balance with Consideration of Foot Tilting(RESEARCH NOTE)
In some situations, when an external disturbance occurs, humans can rock stably backward and forward by lifting the toe or the heel to keep the upright balance without stepping. Many control schemes have been proposed for standing balance control under external disturbances without stepping. But, in most of them researchers have only considered a flat foot phase. In this paper a framework is pr...
متن کاملReceding Horizon H∞ Control for Time-varying Sampled-data Systems
In this paper we consider the receding horizon H∞ control problems for sampled-data systems. We transfer sampled-data systems into equivalent jump systems. We first consider the receding horizon H∞ control problems for timevarying jump systems to obtain state feedback and output feedback receding horizon H∞ controllers. We then apply the obtained results to sampled-data systems and give design ...
متن کاملStabilizing Receding Horizon Control for Three Dimensional Visual Feedback System with Fixed Camera Configuration
This paper investigates vision based robot control based on a receding horizon control strategy, as a first step for a predictive visual feedback control. Firstly, the brief summary of the 3D dynamic visual feedback system with fixed camera configuration is given. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast syste...
متن کامل