This paper addresses the design of a dynamic, nonlinear, time-invariant, state feedback controller that guarantees constraint satisfaction and offset-free control in the presence of unmeasured, persistent, non-stationary, additive disturbances. First, this objective is obtained by designing a dynamic, linear, time-invariant, offset-free controller, and an appropriate domain of attraction for th...

Recent results on receding horizon control of linear systems with state and input constraints have shown that the optimal receding horizon controller is piecewise affine and continuous, with the resulting value function being piecewise quadratic and continuously differentiable. The purpose of this note is to exploit these results to show that the controller renders the closed-loop system global...

We present a new approach to the stability analysis of nite receding horizon control applied to constrained linear systems. By relating the nal predicted state to the current state through a bound on the terminal cost, it is shown that knowledge of upper and lower bounds for the nite horizon costs are suucient to determine the stability of a receding horizon controller. This analysis is valid f...

This paper addresses the design of a dynamic, nonlinear, time-invariant, state feedback controller that guarantees constraint satisfaction and offset-free control in the presence of unmeasured, persistent, non-stationary, additive disturbances. First, this objective is obtained by designing a dynamic, linear, time-invariant, offset-free controller, and an appropriate domain of attraction for th...

In this thesis we study receding horizon control strategies for stochastic discrete-time linear systems with additive noise. This study is divided into two parts: First, we compare the performance of different receding horizon control techniques under constrained and unconstrained control input settings for some representative systems. It appears from our simulations that while in an unconstrai...

This paper presents a vision-based receding horizon control algorithm for enabling a micro air vehicle to fly autonomously through an unknown urban environment. A vision-based geometry estimation algorithm is used to generate a map of the environment and provide obstacle avoidance constraints on permissible MAV trajectories. The geometry estimation process is comprised of three components: a fe...