Receding horizon control is used to maximize the productivity of emulsion polymerization processes. The control strategy is adapted for controlling multivariable systems. Two process inputs, the monomer flow rate and the reactor temperature, were manipulated in order to optimize process productivity. The controller performance was validated in the presence of modeling errors. c © 2007 Elsevier ...

supported by the Fonds zur Förderung der wissenschaftlichen Forschung under SFB 03 ,,Optimierung und Kontrolle " .

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...

This paper presents a receding-horizon leader-follower (RH-LF) controller for addressing the formation control problem of multiple nonholonomic mobile robots. The issues to be investigated include separation, bearing, and orientation deviation control between the leader and the followers, where the orientation deviation control is especially important to control precision. After the leader-foll...

In this paper an algorithm for nonlinear explicit model predictive control is introduced based on multiresolution function approximation that returns a low complexity approximate receding horizon control law built on a hierarchy of second order interpolets. Feasibility and stability guarantees for the approximate control law are given using reachability analysis, where interval methods are used...

This paper presents a receding horizon controller (RHC) that can be used to design trajectories for an aerial vehicle flying through a three dimensional terrain with obstacles and no-fly zones. To avoid exposure to threats, the paths are chosen to stay as close to the terrain as possible, but the vehicle can choose to pop-up over the obstacles if necessary. The approach is similar to our previo...

Receding horizon control is based on iteratively solving an open-loop nite horizon optimization problem. Despite its success in a variety of industrial applications, theoretical issues such as stability were not completely addressed until recently. It was shown in 5] that by utilizing a suitable Control Lyapunov Function (CLF) as terminal cost, the stability of the receding horizon scheme can b...

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 ...

Multiagent systems arise in several domains of engineering. Examples include arrays of mobile sensor networks for aggregate imagery, autonomous highways, and formations of unmanned aerial vehicles. In these contexts, agents are governed by vehicle dynamics and often constraints, and the control objective is achieved by cooperation. Cooperation refers to the agreement of the agents to 1) have a ...

We consider a receding horizon control scheme without terminal constraints in which the stage cost is defined by economic criteria, i.e., not necessarily linked to a stabilization or tracking problem. We analyze the performance of the resulting receding horizon controller with a particular focus on the case of optimal steady states for the corresponding averaged infinite horizon problem. Using ...