A new formulation of receding horizon stabilising control without terminal constraint on the state (Q1365644)

In this paper a parameter-dependent open-loop optimal control problem is formulated. The introduced parameter, interpreted as a penalty coefficient for the distance of the state to the origin, singles out a receding horizon control strategy for a time-varying linear system which provides equivalence between the problem without terminal state constraint and the clamped end-point problem. Due to the absence of the terminal state constraint, the proposed formulation is shown to permit short optimization horizon and better stabilizing properties. The formulated receding horizon strategy was applied to the control of the Cartesian position of a planar model of an aircraft.