This paper proposes the optimal feedback control method using magnetic force for crystal growth dynamics of semiconductor materials. The system model considered here is described by the continuity, momentum, energy, mass transport, and magnetic induction equations. Receding horizon control is a kind of optimal feedback control in which the control performance over a finite future is optimized w...

This paper is concerned with the receding horizon filtering problem for a class of discrete time-varying nonlinear systems with multiple missing measurements. The phenomenon of missing measurements occurs in a random way and the missing probability is governed by a set of stochastic variables obeying the given Bernoulli distribution. By exploiting the projection theory combined with stochastic ...

In this paper, a nonlinear receding-horizon observer is proposed for state reconstruction in batch terpolymerization reactors. The related investigations show that the state reconstruction problem may be quite ill conditioned in the sense that different states may exist that lead to roughly the same output. It seems however that when constrained receding-horizon estimation is used together with...

Max-plus-linear (MPL) systems are a class of discrete event systems that can be described by models that are “linear” in the max-plus algebra. In this paper we focus on MPL systems such as they arise in the context of e.g. manufacturing systems, telecommunication networks, railway networks, and parallel computing. We derive a receding horizon control scheme for MPL systems that guarantees a pri...

The paper addresses the obstacle avoidance motion planning problem for ground vehicles operating in uncertain environments. By resorting to set-theoretic ideas, a receding horizon control algorithm is proposed for robots modelled by linear time-invariant (LTI) systems subject to input and state constraints and disturbance effects. Sequences of inner ellipsoidal approximations of the exact one-s...

A new control method for a cooperative carrying task control problem by two mobile robots is proposed. In the problem, a leading robot is assumed to be controlled by a human directory or remotely. On the other hand, a following robot must be run autonomously anytime without dropping a carrying object. The proposed method based on the receding horizon control (RHC) generates optimal left and rig...

In this paper, a new distributed receding horizon formation control scheme is introduced using relative dynamical model instead of absolute dynamical model of each member robot in most existing formation control algorithms. Convergence of the proposed distributed receding horizon formation control (DRHFC) is implemented using some additional control input constraints, and the relative dynamical...

A hierarchical control architecture for the integration of scheduling decisions, dynamic real-time optimization and tracking control is proposed. It is shown how the discretecontinuous problem of simultaneous scheduling and trajectory optimization on a receding horizon can be integrated within the upper control layer of a two-layer architecture. On the upper layer, the optimal plant strategy de...

Max-plus-linear (MPL) systems are a class of discrete-event systems that can be described by models that are “linear” in the max-plus algebra. MPL systems arise in the context of e.g. manufacturing systems, telecommunication networks, railway networks, and parallel computing. We derive a receding horizon control scheme for MPL systems that guarantees a priori stability (in the sense of boundedn...

Some recent advances in stability and optimality for the nonlinear receding horizon control (NRHC) or the nonlinear model predictive control (NMPC) are assessed. The NRHCs with terminal conditions are surveyed in terms of a terminal state equality constraint, a terminal cost, and a terminal constraint set. Other NRHCs without terminal conditions are surveyed in terms of a control Lyapunov funct...