Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes
A Parametrized Approach for Fast Systems
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Beschreibung
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.
Presents up-to-date research showing how generic predictive control schemes can be extended from slow process-based systems to a variety of fast systems Deals with nonlinear as well as linear cases Large number of "case-by-case" examples builds up into a coherent method of thinking that will allow the reader to apply the appropriate blend of methods any system being studied
Autor*in
Mazen Alamir
Themen in »Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes«
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