Stabilizing Receding Horizon Control of Nonlinear Systems: A Control Lyapunov Function Approach

Authors

A. Jadbabaie, Jie Yu, J. Hauser

Year

1999

Conference Paper

Algorithm

CLF-Based Receding Horizon Control

Source

Proceedings of the American Control Conference (Cat. No. 99CH36251)

Identifiers

DOI 10.1109/ACC.1999.786082

Abstract¶

A modified version of the receding horizon control of nonlinear systems is proposed. The approach is based on a finite horizon optimal control problem with a terminal cost. This method can be treated as an extension of results of De Nicolao et al. (1998). To the case where a control Lyapunov function (CLF)-based stabilizing control law is available. The terminal cost is picked to be a CLF which is also an upper bound on the cost-to-go if the stabilizing control law is applied. The control law is computed a priori using a CLF. Effectiveness of the results is illustrated by applying this approach to the planar model of a ducted fan with a CLF obtained using quasi LPV methods.

Summary¶

Proposes a stabilizing nonlinear receding-horizon controller whose terminal cost is chosen from a control Lyapunov function that upper-bounds the stabilizing controller's cost-to-go. The paper is part of the CLF-MPC line of work connecting finite-horizon optimal control with explicit stability certificates.