Paper Info
Title
A receding horizon stabilization approach to constrained nonholonomic systems in power form.
Abstract
The control of nonholonomic systems with practical requirements is still a challenging problem but finds many industrial applications. This paper studies the receding horizon control (RHC)-based stabilization problem of a class of constrained nonholonomic systems in power form. A non-quadratic cost function is constructed by using the homogeneous norm of the nonholonomic system in power form. With this novel cost function, two kinds of RHC algorithms are designed, of which one ensures the convergence of the closed-loop system states, and the other ensures the ρ-exponential stability. The feasibility of the designed algorithms and the closed-loop convergence are analyzed and ensured theoretically under mild conditions. The comparison and application results are provided, showing that (1) the proposed RHC algorithms are effective and the theoretical results are valid, and (2) the proposed algorithms can stabilize the nonholonomic systems with a much faster convergence rate than the conventional time-varying stabilizable controllers.
Year
DOI
Venue
2017
10.1016/j.sysconle.2016.11.005
Systems & Control Letters
Keywords
Field
DocType
Receding horizon control (RHC),Nonholonomic systems,Input constraints,Stabilization,Nonlinear systems, ρ-exponential stability
Convergence (routing),Mathematical optimization,Nonlinear system,Homogeneous,Control theory,Horizon,Exponential stability,Rate of convergence,Nonholonomic system,Mathematics
Journal
Volume
ISSN
Citations 
99
0167-6911
3
PageRank 
References 
Authors
0.38
21
3
Name
Order
Citations
PageRank
Huiping Li155428.16
Weisheng Yan231527.76
Yang Shi32195135.36