New path-generation based receding-horizon formulation for constrained stabilization of nonlinear systems

Authors:
Mazen Alamir
Affiliations:
Laboratoire d'Automatique de Grenoble, CNRS UMR 5528, LAG-ENSIEG, BP 46, Domaine Universitaire, Saint Martin d'Hères, France
Venue:
Automatica (Journal of IFAC)
Year:
2004

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Abstract

In this paper, a new formulation of constrained stabilizing receding-horizon control is proposed. This formulation is based on the use of open-loop steering path generators. The open-loop optimization problem associated to the proposed receding-horizon formulation is scalar in which the optimization variable is the prediction horizon length. Stability is proved in a sampling control scheme. A simple example is given to illustrate the main concepts.