Difference between revisions of "NCS: Receding Horizon Control"

From Murray Wiki
Jump to navigationJump to search
 
 
(3 intermediate revisions by the same user not shown)
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 ==
 
<!-- 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 ==
<!-- 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 ==
<!-- 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>

Latest revision as of 22:36, 10 April 2006

Prev: NTG Course Home Next: Alice Planner

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: Receding Horizon Control

Reading

  • 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.

  • 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.

Additional Resources