Uncertain Nonlinear Receding Horizon Control Systems Subject to Non-Zero Computation Time

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/32523

Title: Uncertain Nonlinear Receding Horizon Control Systems Subject to Non-Zero Computation Time
Author: Gholami, Behnood ; Rabbath, C. A. ; Gordon, Brandon W.
Abstract: In this paper Receding Horizon Control (RHC) of an uncertain nonlinear system is considered where the computation time is non-negligible. In a well-known method, the solution process of the optimal control problem is started one sampling period in advance by using the prediction of the initial conditions, thus giving the controller a reasonable deadline to complete the optimization process. The current work suggests the use of the theory of neighboring extremal paths to improve the performance of the existing method by adding a correction phase to the previous method and therefore recovering the exact solution in the presence of prediction errors. An immediate result would be that the properties of the RHC techniques involving zero computation time would be valid for practical systems in the actual implementation, where a zero computation time is unachievable. The new approach is applied for the control of a mobile robot system which demonstrates significant performance improvements over the existing method.
Description: ©2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or distribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. Presented at the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005, Seville, Spain, December 12-15, 2005.
Type: Proceedings
URI: http://hdl.handle.net/1853/32523
ISBN: 0-7803-9568-9
Citation: Behnood Gholami, Brandon W. Gordon, C. A. Rabbath, Uncertain Nonlinear Receding Horizon Control Systems Subject to Non-Zero Computation Time, 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05, 3765-3770, 12-15 Dec. 2005.
Date: 2005-12
Contributor: Georgia Institute of Technology. Dept. of Biomedical Engineering
Emory University. Dept. of Biomedical Engineering
Georgia Institute of Technology. School of Electrical and Computer Engineering
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Uncertain nonlinear systems
Zero computation time
RHC
Mobile robots
Receding Horizon Control

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