Approximate explicit receding horizon control of constrained nonlinear systems
作者： Tor A. Johansen
DOI: 10.1016/J.AUTOMATICA.2003.09.021
关键词:
摘要: An algorithm for the construction of an explicit piecewise linear state feedback approximation to nonlinear constrained receding horizon control is given. It allows such controllers be implemented via efficient binary tree search, avoiding real-time optimization. This significant benefit in applications that requires low computational complexity or software complexity. The method has a priori guarantee asymptotic stability with region attraction being close inner stabilizable set. achieved by ensuring error does not exceed margin.
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