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Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes
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302
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481
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While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of fast systems. Dr. Alamir presents a successful approach to this problem based on a co-operation between structural considerations and on-line optimization. The balance between structural and optimization aspects of the method is dependent on the system being considered so the many examples aim to transmit a mode of thought rather than a ready-to-use recipe; they include:§- double inverted pendulum; §- non-holonomic systems in chained form; §- snake board; §- missile in intercept mission; §- polymerization reactor; §- walking robot; §- under-actuated satellite in failure mode. §In addition, the basic stability results under receding horizon control schemes are revisited using a sampled-time, low-dimensional control parameterization that is mandatory for fast computation and some novel formulations are proposed which offer promising directions for future research.
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