Abstract
In this paper, a new contractive receding horizon scheme is proposed for the stabilization of constrained nonlinear systems. The proposed formulation uses a free finite prediction horizon without explicit use of a contraction stability constraint. Another appealing feature is the fact that the resulting receding horizon control is in pure feedback form unlike existing contractive schemes where open-loop phases or a memorized threshold are used to ensure the contraction property in closed loop. The control scheme is validating on the swing-up and stabilization problem of a simple and a double inverted pendulums.
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Alamir, M. (2007). A Low Dimensional Contractive NMPC Scheme for Nonlinear Systems Stabilization: Theoretical Framework and Numerical Investigation on Relatively Fast Systems. In: Findeisen, R., Allgöwer, F., Biegler, L.T. (eds) Assessment and Future Directions of Nonlinear Model Predictive Control. Lecture Notes in Control and Information Sciences, vol 358. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72699-9_44
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DOI: https://doi.org/10.1007/978-3-540-72699-9_44
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