OBC: Receding Horizon Control
|Optimal Control||Receding Horizon Control||Stochastic Systems|
This chapter builds on the previous two chapters and explores the use of online optimization as a tool for control of nonlinear control. We begin with a high-level discussion of optimization-based control, reﬁning some of the concepts initially introduced in Chapter 1. We then describe the technique of receding horizon control (RHC), including a proof of stability for a particular form of receding horizon control that makes use of a control Lyapunov function as a terminal cost. We conclude the chapter with a detailed design example, in which we can explore some of the computational tradeoﬀs in optimization-based control.
- Chapter PDF (4 Jan 09)