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...

This paper investigates vision based robot control based on a receding horizon control strategy. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system. By applying the proposed control scheme to a two-link direct drive manipulator with a CCD camera, it is shown that the stabilizing receding hor...

This paper deals with the design of control systems over lossy networks. A network is assumed to exist between the sensor and the controller and between the latter and the actuator. Packets are dropped according to a Bernoulli independent process, with γ and μ being the probabilities of losing an observation packet and a control packet respectively, at time any instant t. A receding horizon con...

This paper investigates vision based robot control via a receding horizon control strategy for an eye-in/to-hand system, as a predictive visual feedback control. Firstly, the dynamic visual feedback system with the eye-in/to-hand configuration is reconstructed in order to improve the performance of the estimation. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback s...

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...

results that include the well-known matrix equality condition [1] as a special case, still allowing arbitrary state weighting matrices. Theorem 6 and Corollary 4 are also new results that weaken the condition on the state weighting matrix. It is known that the terminal weighting matrices presented in this paper can be represented as LMI forms and computed by using existing semi-definite program...

Issues of feasibility and stability are considered for a nite horizon formulation of receding horizon control for linear systems under mixed linear state and control constraints. We prove that given any compact set of initial conditions that is feasible for the innnite horizon problem, there exists a nite horizon length above which a receding horizon policy will provide both feasibility and sta...