NCS: Receding Horizon Control - Revision history

Keviczky at 22:36, 10 April 2006

2006-04-10T22:36:54Z

← Older revision		Revision as of 22:36, 10 April 2006
Line 7:		Line 7:
	<!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful -->		<!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful -->
	<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf\|Lecture: Networked Control Systems: Course Overview]] -->		<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf\|Lecture: Networked Control Systems: Course Overview]] -->
			[[Media:L3-2_rhc.pdf\|Lecture: Receding Horizon Control]]

	== Reading ==		== Reading ==

Keviczky at 22:35, 10 April 2006

2006-04-10T22:35:10Z

← Older revision		Revision as of 22:35, 10 April 2006
Line 2:		Line 2:

	<!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up -->		<!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up -->
	~~This~~ is the ~~template~~ for ~~CDS 270 lectures~~. ~~If you edit this page~~, ~~you will see comments describing what goes~~ in ~~each section~~. ~~'''Do not edit this template.''' See [[CDS 270: Information for Lecturers]] for more information on how to create~~ a ~~wiki page corresponding to~~ a ~~lecture~~.		In this lecture the receding horizon control (RHC) principle is described and the main ingredients required for its stability are discussed. After a brief review of Lyapunov stability, the use of terminal cost, constraint and controller is shown in a discrete-time constrained nonlinear system formulation. Treatment of stability is also illustrated in a continuous-time unconstrained nonlinear system setting, using a control Lyapunov function (CLF)-based terminal cost.

	== Lecture Materials ==		== Lecture Materials ==

Keviczky: /* Reading */

2006-04-10T22:29:38Z

Reading

← Older revision		Revision as of 22:29, 10 April 2006
Line 9:		Line 9:

	== Reading ==		== Reading ==
	<!-- ~~A reading list for the lecture~~. This ~~will typically be 3-5 articles or book chapters that are particularly relevant to~~ the ~~material being presented~~. ~~The reading list should be annotated to explain how~~ the ~~articles fit into~~ the ~~topic for~~ the ~~lecture~~. -->		* <p>[http://dx.doi.org/10.1016/S0005-1098(99)00214-9 Constrained model predictive control: Stability and optimality], D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert. Automatica, 2000, Vol. 36, No. 6, pp. 789-814. This is one of the most referenced comprehensive survey papers on MPC. Gives a nice overview about its history and explains the most important issues and various approaches.</p>
			* <p>[http://www.cds.caltech.edu/~murray/papers/2001n_mur+03-sec.html Online Control Customization via Optimization-Based Control], R. M. Murray et al. In Software-Enabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001. This paper talks about the CLF-based nonlinear RHC approach and its application on the Caltech ducted fan using NTG.</p>

	== Additional Resources ==		== Additional Resources ==

Keviczky: /* Additional Resources */

2006-04-10T22:23:47Z

Additional Resources

← Older revision		Revision as of 22:23, 10 April 2006
Line 12:		Line 12:

	== Additional Resources ==		== Additional Resources ==
	<!-- ~~Links to~~ additional ~~information~~. ~~If there are good sources~~ of ~~additional information~~ for ~~students interested in exploring this topic further~~, ~~these should go at the bottom~~ of ~~the page~~. -->		* <p>[http://www.eng.newcastle.edu.au/eecs/cdsc/books/cce/ Constrained Control and Estimation - An Optimisation Approach], G. C. Goodwin, M. M. Seron, J. A. De Dona. Springer Verlag, 2005. This is a recent book treating constrained control and estimation in a unified framework (including finite horizon optimal control and RHC) using discrete-time formulation. The website has a lot of additional useful and interesting material.</p>
			* <p>[http://www.seas.upenn.edu/~jadbabai/papers/TAC_jh_final.pdf Unconstrained Receding-Horizon Control of Nonlinear Systems], A. Jadbabaie, J. Yu and J. Hauser. IEEE Transactions on Automatic Control, May 2001, Vol. 46, No. 5, pp. 776-783. This paper might be a little dense for the first read, but contains an essence of A. Jadbabaie's PhD thesis on CLF-based nonlinear RHC.</p>
			* <p>[http://www.seas.upenn.edu/~jadbabai/papers/Phdthesis.pdf Nonlinear Receding Horizon Control: A Control Lyapunov Function Approach], A. Jadbabaie. PhD Thesis, 2000.</p>

Murray at 05:34, 6 April 2006

2006-04-06T05:34:38Z

New page

{{cds270-2 header}} 


This is the template for CDS 270 lectures. If you edit this page, you will see comments describing what goes in each section. '''Do not edit this template.''' See [[CDS 270: Information for Lecturers]] for more information on how to create a wiki page corresponding to a lecture.

== Lecture Materials ==



== Reading ==


== Additional Resources ==