Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes
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Home > Science, Technology & Agriculture > Electronics and communications engineering > Electronics engineering > Automatic control engineering > Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes: A Parametrized Approach for Fast Systems(339 Lecture Notes in Control and Information Sciences)
Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes: A Parametrized Approach for Fast Systems(339 Lecture Notes in Control and Information Sciences)

Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes: A Parametrized Approach for Fast Systems(339 Lecture Notes in Control and Information Sciences)


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About the Book

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.

Table of Contents:
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.

About the Author :
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.


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Product Details
  • ISBN-13: 9781846284700
  • Publisher: Springer London Ltd
  • Publisher Imprint: Springer London Ltd
  • Height: 235 mm
  • No of Pages: 308
  • Returnable: Y
  • Sub Title: A Parametrized Approach for Fast Systems
  • ISBN-10: 1846284708
  • Publisher Date: 26 Jul 2006
  • Binding: Paperback
  • Language: English
  • Returnable: Y
  • Series Title: 339 Lecture Notes in Control and Information Sciences
  • Width: 155 mm


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Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes: A Parametrized Approach for Fast Systems(339 Lecture Notes in Control and Information Sciences)
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Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes: A Parametrized Approach for Fast Systems(339 Lecture Notes in Control and Information Sciences)
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