OBC: Receding Horizon Control

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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.