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On the Stability of Nonlinear Receding Horizon Control: A Geometric Perspective
[article]
2024
arXiv
pre-print
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The widespread adoption of nonlinear Receding Horizon Control (RHC) strategies by industry has led to more than 30 years of intense research efforts to provide stability guarantees for these methods. ...
These results highlight the need to rethink the role of global geometry in the context of optimization-based control. ...
In this paper we aim to link the geometric and optimal control perspectives, demonstrating how such a link provides new insights into the stability of derivative-based nonlinear RHC implementations. ...
arXiv:2103.15010v3
fatcat:yzyzprbkxfbc7c6cnnda5odduu
Stabilizing Predictive Visual Feedback Control via Image Space Navigation Function
2013
Electronics and Communications in Japan
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Then, visual motion observer-based stabilizing receding horizon control for 3D visual feedback systems is proposed. ...
The main contribution of this paper is to show that the path planner which always remains in the camera field of view during servoing is designed for position-based visual feedback receding horizon control ...
This validates one of the expected advantages of stabilizing receding horizon control with the path planner for the visual feedback system. ...
doi:10.1002/ecj.11493
fatcat:lw4gpzl62rb2vjgynw7hozxjuq
On the Computational Consequences of Cost Function Design in Nonlinear Optimal Control
[article]
2022
arXiv
pre-print
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To characterize the computational burden associated to obtaining a stabilizing controller with a particular cost, we bound the prediction horizon required by receding horizon methods and the number of ...
However, despite the extensive impacts of methods such as receding horizon control, dynamic programming and reinforcement learning, the design of cost functions for a particular system often remains a ...
INTRODUCTION The stabilization of complex nonlinear systems is one of the most fundamental and important problems in control theory. ...
arXiv:2204.01986v2
fatcat:wffzcxlkxzhxdnztavg32kf26i
Stabilizing predictive visual feedback control for fixed camera systems
2011
Electronics and Communications in Japan
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The stability of the receding horizon control scheme is guaranteed by using a terminal cost derived from an energy function of the visual motion robot error system. ...
This paper investigates vision-based robot control via a receding horizon control strategy for fixed camera systems, as stabilizing predictive visual feedback control. ...
This validates one of the expected advantages of the stabilizing receding horizon control for visual feedback systems. ...
doi:10.1002/ecj.10357
fatcat:7bycildd3zezpas7cyhx33z77e
Impulsively-controlled systems and reverse dwell time: A linear programming approach
2015
Nonlinear Analysis. Hybrid Systems
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From a theoretical perspective we prove certain geometrical properties of the discrete set of feasible solutions. ...
We present a receding horizon algorithm that converges to the exact solution in polynomial time for a class of optimal impulse control problems with uniformly distributed impulse instants and governed ...
From a theoretical perspective the obtained results have proved certain geometrical properties of the discrete set of feasible solutions. ...
doi:10.1016/j.nahs.2014.11.004
fatcat:yb2vo7zexrhvtdfflljjdyocoe
Stochastic Model Predictive Control: An Overview and Perspectives for Future Research
2016
IEEE Control Systems
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MPC (a.k.a. receding-horizon control) solves an open-loop constrained optimal control problem (OCP) repeatedly in a receding-horizon manner [3] . ...
The OCP is solved over a finite sequence of control actions { , , , } u u uN ...
Lyapunov stability of the matrix A implies that all eigenvalues of A lie in the closed unit disc, and those with magnitude one have equal algebraic and geometric multiplicities (see [80] for a detailed ...
doi:10.1109/mcs.2016.2602087
fatcat:k62qjtmbbzh4tcprcjufparf64
Bicycling Science [Book Review]
2005
IEEE Control Systems
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Several other books have recently appeared on the subject of receding horizon optimal control for constrained systems, including [2] and [3] . ...
From the standpoint of extending the applicability of the receding horizon optimal control to faster processes, computational complexity represents an especially critical area. ...
doi:10.1109/mcs.2005.1499395
fatcat:pmyd2cxwjbhblifnqf5ydsenl4
Data-driven adaptive predictive control for an activated sludge process
2020
Bulletin of Electrical Engineering and Informatics
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Simulation results show that by a proper and effective excitation of direct identification of controller parameters, the convergence and stability of the implicit predictive model can be achieved. ...
The robustness test and stability analysis of direct adaptive model predictive control are discussed to realize the effectiveness of this adaptive control scheme. ...
ACKNOWLEDGEMENTS The authors would like to thank the Ministry of Education (MOE) PRGS vote R.J130000.7851.4L702 and the Universiti Teknologi Malaysia UTMHIR vote 08G74 for their financial and facility ...
doi:10.11591/eei.v9i5.2257
fatcat:paddhvapvbaltlkbhnerplvu2a
Suboptimality analysis of receding horizon quadratic control with unknown linear systems and its applications in learning-based control
[article]
2024
arXiv
pre-print
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2023 pre-print arXiv:2301.07876v1 fatcat:mxmczbasd5dqxeq5nezpfqwcve
In this work, we aim to analyze how the trade-off between the modeling error, the terminal value function error, and the prediction horizon affects the performance of a nominal receding-horizon linear ...
By developing a novel perturbation result of the Riccati difference equation, a novel performance upper bound is obtained and suggests that for many cases, the prediction horizon can be either one or infinity ...
adaptive receding-horizon LQ controllers. ...
arXiv:2301.07876v2
fatcat:gqaiyb5orja25o6mvpn7yhh6ui
Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum
[article]
2017
arXiv
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Our solution then follows three steps: (i) we characterize the FIP contact-stability condition; (ii) we compute feedforward controls by solving a nonlinear optimization over receding-horizon FIP trajectories ...
We finally demonstrate our solution in simulations with a model of the HRP-4 humanoid robot, including noise and delays over state estimation and foot force control. ...
NONLINEAR PREDICTIVE CONTROL OF THE FIP We now formulate FIP predictive control as a nonlinear program (NLP). ...
arXiv:1703.00688v2
fatcat:6n6ptoqy3jbjtkex3wnpjkdpja
Dynamic walking over rough terrains by nonlinear predictive control of the floating-base inverted pendulum
2017
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Our solution then follows three steps: (i) we characterize the FIP contact-stability condition; (ii) we compute feedforward controls by solving a nonlinear optimization over receding-horizon FIP trajectories ...
The N time intervals of the receding horizon are then split into two categories. ...
In the pendulum mode, contact stability can be written [3] in terms of the position and acceleration of the COM as over all rows (a, a O ) of the inequality matrix A O . ...
doi:10.1109/iros.2017.8206385
dblp:conf/iros/CaronK17
fatcat:d3cwogb36vekjdievrvtvsloem
Visual predictive control for manipulators with catadioptric camera
2008
2008 IEEE International Conference on Robotics and Automation
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A global model describing the behavior of the robotic system equipped with the camera is used to predict the evolution of the visual feature on a future horizon. ...
Based on Nonlinear Model Predictive Control (NMPC), the visual servoing problem is formulated into a nonlinear constrained minimization problem in the image plane. ...
The authors would like to thank François Chaumette for many fruitful discussions and constructive comments. ...
doi:10.1109/robot.2008.4543258
dblp:conf/icra/AllibertCT08
fatcat:itr4jnkgsrhutlhcxzbwqwizf4
Static Solutions of the Hamilton-Jacobi-Bellman Equation for Circular Orbit Transfers
2011
Journal of Guidance Control and Dynamics
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Doyle, J., “Nonlinear Optimal Control: A Control Lyapunov Function and Receding Horizon Perspective,” Asian Journal of Control, Vol. 1, No. 1, 1999, pp. 14-24. ...
ENGINEERING NOTES
optimal control problems and control Lyapunov functions from a receding-horizon perspective. ...
doi:10.2514/1.53394
fatcat:lq47gueh5bgl5j6i73dqt2pp54
Run-to-run disturbance rejection for feedforward path following of an adaptively controlled unmanned helicopter
2015
2015 IEEE Conference on Control Applications (CCA)
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In order to achieve good run-to-run disturbance rejection, the structure of the underlying stabilizing flight control of the RPAS is taken into account. ...
In this work, we consider flight control based on adaptive reference following and the special case of the unmanned helicopter ARTIS. We present simulation results and flight test data. ...
Similar to our previous work [10] we formulate an optimal control problem (OCP), which is solved in a receding horizon fashion. ...
doi:10.1109/cca.2015.7320867
dblp:conf/IEEEcca/DauerFL15
fatcat:7tiphl5erna3rovgzta4rqqfke
Distributed model predictive control
2002
IEEE Control Systems
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In this paper, we provide a tutorial review of recent results in the design of distributed model predictive control systems. ...
Our goal is to not only conceptually review the results in this area but also to provide enough algorithmic details so that the advantages and disadvantages of the various approaches can be become quite ...
future control inputs. 3) A receding horizon scheme. ...
doi:10.1109/37.980246
fatcat:bzehnx2uubbudpu3jtqhigbwta
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