Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes
A Parametrized Approach for Fast Systems
(Sprache: Englisch)
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...
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Klappentext zu „Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes “
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.
Inhaltsverzeichnis zu „Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes “
Part 1: Generic Framework- Definitions and Notation
- The Receding-horizon State Feedback
- Stabilizing Schemes with Final Equality Constraint on the State
- Stabilizing Schemes with Free Prediction Horizon and No Final Constraint on the State
- General Stabilizing Formulations for Trivial Parametrization
- Limit Cycles Stabilizing Receding-horizon Formulation for a Class of Hybrid Nonlinear Systems
- Generic Design of Dynamic State Feedback Using Receding-horizon Schemes
Part II: Application Examples
- Introduction to Part II
- Swing-up Mechanical Systems
- Minimum-time Constrained Stabilization of Nonholonomic Systems
- Stabilization of a Rigid Satellite in Failure Mode
- Receding-horizon Solution to the Minimum-interception-time Problem
- Constrained Stabilization of a PVTOL Aircraft
- Limit Cycle Stabilizing Receding-horizon Controller for the Planar Biped Rabbit.
Autoren-Porträt von Mazen Alamir
Mazen Alamir has published many times in peer-reviewed journals (including several times in Automatica and Control Engineering Practice). He holds two patents concerning the remote localisation and estimation of speed for a moving vehicle. Doctor Alamir is a member of the IFAC technical committee on nonlinear control and, as such, has a good profile among his fellow control engineers, he is also the co-ordinator of the French CNRS workgroup on nonlinear predictive control and is a member of the French National Universities Council.
Bibliographische Angaben
- Autor: Mazen Alamir
- 2006, 308 Seiten, Masse: 15,6 x 23,9 cm, Kartoniert (TB), Englisch
- Verlag: Springer
- ISBN-10: 1846284708
- ISBN-13: 9781846284700
Sprache:
Englisch
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