Receding Horizon Control of Nonlinear Systems: Robustness and Effects of Disturbance

비선형 시스템에 대한 동적 구간 제어법:강인성 및 외란의 영향

In this paper, a robust receding horizon control algorithm, which can be employed for a wide class of nonlinear systems with control and state constraints, modeling errors, and disturbances, is considered. In a neighborhood of the origin, a linear feedback controlelr for the linearized system is applied. Outside this neighborhood, a receding horizon control is applied. Robust stability is proved considering the time taken to solve an optimal control problem so that the proposed algorithm can be applied as an on-line controller.