Approximate nonlinear receding-horizon control laws in closed form (Q4955057)
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scientific article; zbMATH DE number 1457645
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| English | Approximate nonlinear receding-horizon control laws in closed form |
scientific article; zbMATH DE number 1457645 |
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Approximate nonlinear receding-horizon control laws in closed form (English)
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12 June 2000
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feedback
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receding-horizon control
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on-line stabilization
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output tracking
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affine nonlinear systems
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multi-step-ahead predictive control
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quadratic programming
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0.8641073703765869
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0.8517221212387085
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0.8231138586997986
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0.8222480416297913
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An approximate receding-horizon control law for on-line stabilization and output tracking of continuous-time affine nonlinear systems is constructed. The receding-horizon optimal control problem is reduced (using a multi-step-ahead predictive control formulation) to a quadratic programming problem which has an analytical solution in the feedback-form. The output-tracking problem is handled in a similar fashion. It is shown that the stability property for linear systems can be easily proved. The capability of the approximate receding-horizon controllers to stabilize nonlinear systems is illustrated by a detailed analysis of several implementation examples.
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