Alamir Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes

A Parametrized Approach for Fast Systems
2006
ISBN: 978-1-84628-471-7
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band 339, 308 Seiten, eBook

Reihe: Lecture Notes in Control and Information Sciences

While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of relatively fast systems. This book presents a successful approach to this problem based on a co-operation between structural considerations and on-line optimization. It also provides research showing how generic predictive control schemes can be extended from slow process-based systems to a variety of fast systems.

Zielgruppe

Research

Autoren/Hrsg.

Alamir, Mazen

Inhaltsverzeichnis

Generic Framework.- Definitions and Notation.- The Receding-Horizon State Feedback.- Stabilizing Schemes with Final Equality Constraint on the State.- Stabilizing Formulations with Free Prediction Horizon and No Final Constraint on the State.- General Stabilizing Formulations for Trivial Parametrization.- Limit Cycles Stabilizing Receding-Horizon Formulation for a Class of Hybrid Nonlinear Systems.- Generic Design of Dynamic State Feedback Using Receding-Horizon Schemes.- Application Examples.- Swing-Up Mechanical Systems.- Minimum-Time Constrained Stabilization of Nonholonomic Systems.- Stabilization of a Rigid Satellite in Failure Mode.- Receding-Horizon Solution to the Minimum-Interception-Time Problem.- Constrained Stabilization of a PVTOL Aircraft.- Limit Cycle Stabilizing Receding-Horizon Controller for the Planar Biped Rabbit.

Über Autor(innen)

Mazen Alamir has published many times in peer-reviewed journals (including several times in and ). He holds two patents concerning the remote localisation and estimation of speed for a moving vehicle. Doctor Alamir is a member of the IFAC technical committee on nonlinear control and, as such, has a good profile among his fellow control engineers, he is also the co-ordinator of the French CNRS workgroup on nonlinear predictive control and is a member of the French National Universities Council.