A Globally Stabilizing Receding Horizon Controller for Neutrally Stable Linear Systems with Input Constraints

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General Robotics, Automation, Sensing and Perception Laboratory
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De Persis, Claudio
Yoon, Tae-Woong
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It is well known that exponentially unstable linear systems can not be globally stabilized in the presence of input constraints. In the case where the linear system is neutrally stable, one can achieve global asymptotic stability using a particular control Lyapunov function (CLF)-based controller. Using this particular CLF as terminal cost in a receding horizon scheme, we obtain a receding horizon controller which globally stabilizes such systems. Contrary to previous results, the horizon length is fixed, and can be chosen arbitrarily. The resulting controller also outperforms the CLF controller, since it provides a lower cost as measured by a quadratic performance index.

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2002-12-10
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2023-05-16T22:24:20.000
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Copyright 2002 IEEE. Reprinted from Proceedings of the 41st IEEE Conference on Decision and Control 2002, Volume 1, pages 1096-1100. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Ali Jadbabaie was affiliated with Yale University. Currently (March 2005), he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
Copyright 2002 IEEE. Reprinted from Proceedings of the 41st IEEE Conference on Decision and Control 2002, Volume 1, pages 1096-1100. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Ali Jadbabaie was affiliated with Yale University. Currently (March 2005), he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
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