Mazen Alamir

Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes (eBook, PDF)

A Parametrized Approach for Fast Systems

• Format: PDF

Produktbeschreibung

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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Produktdetails

• Verlag: Springer London
• Seitenzahl: 308
• Erscheinungstermin: 29. September 2006
• Englisch
• ISBN-13: 9781846284717
• Artikelnr.: 43886408

Autorenporträt

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.

Inhaltsangabe

Generic Framework.- Definitions and Notation.- The Receding-Horizon State Feedback.- Stabilizing Schemes with Final Equality Constraint on the State.- Stabilizing Formulations 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.- Application Examples.- 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.