Receding-horizon approach to robust output feedback control for nonlinear systems

Ross Blauwkamp, Tamer Basar

Research output: Contribution to journalConference article

Abstract

This paper describes a receding horizon approach to solving nonlinear dynamic games related to robust control. The controller has a time-varying perturbation-feedback structure. Open-loop trajectories are calculated to solve for control inputs using output measurements, then linear feedback is applied to the perturbations of the output versus the optimal output trajectory. Conditions are given which will yield such a controller under conditions similar to those for the existence of an optimal nonlinear observer-feedback controller. The initial and terminal weighting matrices are used to guarantee stability and to bound the cost.

Original languageEnglish (US)
Pages (from-to)4879-4884
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume5
StatePublished - Dec 1 1999
EventThe 38th IEEE Conference on Decision and Control (CDC) - Phoenix, AZ, USA
Duration: Dec 7 1999Dec 10 1999

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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