On the stability of receding horizon control with a general terminal cost

2005 ◽  
Vol 50 (5) ◽  
pp. 674-678 ◽  
Author(s):  
A. Jadbabaie ◽  
J. Hauser
2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Jiandong Yang ◽  
Yuanli Cai ◽  
Baocang Ding

A robust receding horizon control (RHC) with free control moves is applied to polytopic parametric uncertainty systems with multiple input delays and unstable system matrices. A difficulty in the previous robust RHC work is that the free control moves are unsuitable for the system with input time delay, which is overcome in this paper by the design based on the augmented state. As a result, the synthesis of local control based on augmented feedback is given offline to alleviate the online computation burden. The free control moves before the augmented feedback are the online decision variables, which are solved by minimizing a sequence of nonnegative scalars online. The recursive feasibility is guaranteed by adopting the augmented state space equation. By adjusting the robust positively invariant set, the stability of the closed-loop system is guaranteed. Simulation results demonstrate that the proposed algorithm improves the control performance effectively.


1993 ◽  
Vol 38 (10) ◽  
pp. 1512-1516 ◽  
Author(s):  
J.B. Rawlings ◽  
K.R. Muske

Energies ◽  
2018 ◽  
Vol 11 (9) ◽  
pp. 2243 ◽  
Author(s):  
Jiwei Feng ◽  
Chunjiang Bao ◽  
Jian Wu ◽  
Shuo Cheng ◽  
Guangfei Xu ◽  
...  

Active steering technology is a key technology for automatic driving vehicles to achieve route tracking and obstacle avoidance and risk avoidance, and its performance will affect the stability control of the vehicle. For solving the stability control issues of vehicles, which have uncertainty in model and robustness in system, this paper proposes an active steering control method based on the receding horizon control model. It calculates the optimal control law by this method by using the real-time vehicle state so that it can compensate for the uncertainty caused by model mismatch, interference, etc. The design of the controller is implemented by using the yaw rate deviation of the vehicle as the input of the receding horizon linear quadratic controller model and then inputting the calculated superposition angle into the vehicle model in real time. We built a Simulink control model to implement co-simulation with CarSim to verify the control effect of the controller. In addition, we built a steering hardware-in-the-loop platform based on the LabVIEW RT system. The experimental results show that the active steering system adopting a receding horizon control method had better system robustness and robust stability.


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