Stabilization of nonlinear systems using receding-horizon control schemes : a parametrized approach for fast systems /

Stabilization of nonlinear systems using receding-horizon control schemes : a parametrized approach for fast systems /

Saved in:
Bibliographic Details
Author / Creator:Alamir, Mazen.
Imprint:London : Springer, ©2006.
Description:1 online resource (xvii, 308 pages) : illustrations.
Language:English
Series:Lecture notes in control and information sciences ; 339
Lecture notes in control and information sciences ; 339.
Subject:
Nonlinear control theory.
Automatic control -- Mathematical models.
Automatic control -- Mathematical models.
Nonlinear control theory.
Format: E-Resource Book
URL for this record:http://pi.lib.uchicago.edu/1001/cat/bib/11068739
Hidden Bibliographic Details
ISBN:9781846284717
1846284716
1846284708
9781846284700
Notes:Includes bibliographical references (pages 301-306) and index.
Print version record.
Summary:While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of fast systems. Dr. Alamir presents a successful approach to this problem based on a co-operation between structural considerations and on-line optimization. The balance between structural and optimization aspects of the method is dependent on the system being considered so the many examples aim to transmit a mode of thought rather than a ready-to-use recipe; they include: - double inverted pendulum; - non-holonomic systems in chained form; - snake board; - missile in intercept mission; - polymerization reactor; - walking robot; - under-actuated satellite in failure mode. In addition, the basic stability results under receding horizon control schemes are revisited using a sampled-time, low-dimensional control parameterization that is mandatory for fast computation and some novel formulations are proposed which offer promising directions for future research.
Other form:Print version: Alamir, Mazen. Stabilization of nonlinear systems using receding-horizon control schemes. London : Springer, ©2006 1846284708 9781846284700
Table of Contents:
  • Cover
  • Contents
  • Part I: Generic Framework
  • 1 Definitions and Notation
  • 1.1 System-Related Definitions
  • 1.2 Open-Loop-Control-Related Definitions
  • 1.3 Open-Loop-Trajectories-Related Definitions
  • 1.4 Further Notation
  • 2 The Receding-Horizon State Feedback
  • 2.1 The Strategy Most Commonly Used by Humans
  • 2.2 The Ingredients of a Receding-Horizon Control Scheme
  • 2.3 The Receding-Horizon State Feedback
  • 2.4 Existence of Solutions
  • 2.5 The Stability Issue
  • 3 Stabilizing Schemes with Final Equality Constraint on the State
  • 3.1 Some Assumptions and Preliminary Results
  • 3.2 Fixed Prediction Horizon Formulations with Final Equality Constraint on the State
  • 4 Stabilizing Formulations with Free Prediction Horizon and No Final Constraint on the State
  • 4.1 Preliminary Results
  • 4.2 A Contractive Free Prediction Horizon Formulation for Use in a Hybrid Scheme
  • 4.3 A Contractive Self-Contained Free Final-Horizon Formulation
  • 4.4 Generalization
  • 5 General Stabilizing Formulations for Trivial Parametrization
  • 5.1 Introduction
  • 5.2 Definitions and Notation
  • 5.3 Sufficient Conditions for Asymptotic Stability
  • 5.4 A Quick Survey of Existing Stabilizing Formulations
  • 5.5 Inverse Optimality
  • 5.6 Current Issues: Distributing the Optimization over Real Time
  • 6 Limit Cycles Stabilizing Receding-Horizon Formulation for a Class of Hybrid Nonlinear Systems
  • 6.1 Problem Statement
  • 6.2 Recall on Partial Feedback Linearization
  • 6.3 The Proposed Receding-Horizon Feedback Scheme
  • 6.4 Illustrative Examples
  • 6.5 Conclusion
  • 7 Generic Design of Dynamic State Feedback Using Receding-Horizon Schemes
  • 7.1 Intuitive Presentation of the Main Idea
  • 7.2 Rigorous Statement of the Dynamic State Feedback
  • 7.3 Conclusion
  • Part II: Application Examples
  • Introduction to Part II
  • 8 Swing-Up Mechanical Systems
  • 8.1 Swing-Up and Stabilization of a Twin-Pendulum System
  • 8.2 Swing-Up and Stabilization of a Reaction-Wheel Pendulum Under Constraints
  • 8.3 Swing-Up and Stabilization of an Inverted Pendulum on a Cart
  • 8.4 Swing-Up and Stabilization of a Double Inverted Pendulum on a Cart
  • 8.5 Conclusion
  • 9 Minimum-Time Constrained Stabilization of Nonholonomic Systems
  • 9.1 Stabilisation of Nonholonomic Systems in Chained Form
  • 9.2 Stabilisation of a Class of Nonholonomic Systems: Application to the Snakeboard Example
  • 10 Stabilization of a Rigid Satellite in Failure Mode
  • 10.1 The Model of a Satellite in Failure Mode
  • 10.2 Designing Efficiently Computable Steering Trajectories
  • 10.3 Numerical Experiments
  • 10.4 State Feedback Definition
  • 10.5 Closed-Loop Simulations
  • 10.6 Conclusion
  • 11 Receding-Horizon Solution to the Minimum-Interception-Time Problem
  • 11.1 System Modelling and Problem Statement
  • 11.2 Intuitive Presentation of the Controller Design
  • 11.3 Explicit Definition of the Feedback Law
  • 11.4 Simulation Results
  • 11.5 Conclusion
  • 12 Constrained Stabilization of a PVTOL Aircraft
  • 12.1 The Model of the PVTOL Aircraft
  • 12.2 Generation of Admissible Open-Loop Steering Trajectories
  • 12.

Similar Items