Advertisement

Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes

A Parametrized Approach for Fast Systems

  • Mazen Alamir

Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 339)

About this book

Introduction

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.

Keywords

Constrained Control Constraint Control Control Applications Control Engineering Control Theory Fast Systems Model Predictive Control Nonlinear Systems Predictive Control Receding Horizon Control Robotics Stability optimization robot

Authors and affiliations

  • Mazen Alamir
    • 1
  1. 1.Laboratoire d’Automatique de GrenobleCNRSSaint Martin d’HèresFrance

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-84628-471-7
  • Copyright Information Springer-Verlag London Limited 2006
  • Publisher Name Springer, London
  • eBook Packages Engineering
  • Print ISBN 978-1-84628-470-0
  • Online ISBN 978-1-84628-471-7
  • Series Print ISSN 0170-8643
  • Buy this book on publisher's site