Design of Stabilizing Receding Horizon Controls for Constrained Linear Time-Varying Systems
Résumé
In this paper, we propose a generalized stabilizing receding horizon control (RHC) scheme for input/state constrained linear discrete time-varying systems that improves feasibility and on-line computation on the constrained finite-horizon optimization problem, compared with existing schemes. The control scheme is based on a time-varying horizon cost function with time-varying terminal weighting matrices, which can easily be implemented via linear matrix inequality (LMI) optimization. We discuss modifications of the proposed scheme that improve feasibility or on-line computation time. Through various simulation examples, we illustrate the results of these schemes.
Domaines
Autre [cs.OH]
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