A CONTROL LYAPUNOV FUNCTION BASED RECEDING HORIZON METHODOLOGY FOR INPUT CONSTRAINED NONLINEAR SYSTEMS

摘要

Control Lyapunov Functions (CLFs) are used in conjunction with Receding Horizon Control (RHC) to develop a new class of control schemes for input-constrained nonlinear systems. First we develop a constrained version of pointwise min-norm controllers (Freeman and Kokotovid, 1996). These controllers are then shown to be an extreme (zero horizon) case of a more general class of constrained receding horizon problems. The resulting controllers represent an extension of those presented in (Primbs et al., 1998), and inherit a number of desirable properties. A simple example illustrates the use of this methodology.