Lecture Notes in Control and Information Sciences : A Parametrized Approach for Fast Systems - Mazen Alamir

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Lecture Notes in Control and Information Sciences

A Parametrized Approach for Fast Systems

By: Mazen Alamir

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Paperback | 26 July 2006

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332 Pages

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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.

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Definitions and notation	p. 3
The receding-horizon state feedback	p. 19
Stabilizing schemes with final equality constraint on the state	p. 35
Stabilizing formulations with free prediction horizon and no final constraint on the state	p. 61
General stabilizing formulations for trivial parametrization	p. 87
Limit cycles stabilizing receding-horizon formulation for a class of hybrid nonlinear systems	p. 105
Generic design of dynamic state feedback using receding-horizon schemes	p. 133
Swing-up mechanical systems	p. 155
Minimum-time constrained stabilization of nonholonomic systems	p. 197
Stabilization of a rigid satellite in failure mode	p. 229
Receding-horizon solution to the minimum-interception-time problem	p. 247
Constrained stabilization of a PVTOL aircraft	p. 269
Limit cycle stabilizing receding-horizon controller for the planar biped RABBIT	p. 283
Table of Contents provided by Blackwell. All Rights Reserved.

Lecture Notes in Control and Information Sciences

A Parametrized Approach for Fast Systems

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Paperback

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