A receding horizon generalization of pointwise min-norm controllers

نویسندگان

  • James A. Primbs
  • Vesna Nevistic
  • John Doyle
چکیده

Control Lyapunov functions (CLF’s) are used in conjunction with receding horizon control (RHC) 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 in the Appendix under more restrictive technical conditions.

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عنوان ژورنال:
  • IEEE Trans. Automat. Contr.

دوره 45  شماره 

صفحات  -

تاریخ انتشار 2000