Sliding mode control on receding horizon: Practical control design and application

Receding Horizon Networked Control

This paper deals with the design of control systems over lossy networks. A network is assumed to exist between the sensor and the controller and between the latter and the actuator. Packets are dropped according to a Bernoulli independent process, with γ and μ being the probabilities of losing an observation packet and a control packet respectively, at time any instant t. A receding horizon con...

A Study on Distributed Receding Horizon Control

Title of thesis: A STUDY ON DISTRIBUTED RECEDING HORIZON CONTROL Wann-Jiun Ma, Master of Science, 2011 Thesis directed by: Professor Nuno Martins Department of Electrical and Computer Engineering We consider a distributed control problem comprising of multiple sub-systems with one-controller at each sub-system. We apply a recent result about suboptimal receding horizon control that analytically...

Receding Horizon Control of HIV

This paper describes a model of the immunologic response of the human immunodeficiency virus (HIV) in individuals. It then illustrates how a Receding Horizon Control (RHC) methodology can be used to drive the system to a stable equilibrium in which a strong immune response controls the viral load in the absence of drug treatment. We also illustrate how this feedback methodology can overcome unp...

An application of receding-horizon neural control in humanoid robotics

Optimal trajectory planning of a humanoid arm is addressed. The goal is to make the end effector reach a desired target or track it when it moves in the arm’s workspace unpredictably. As a reference setup, we considered a 7 degrees of freedom humanoid robot arm. Physical constraints require the online computations to be very quick. Following previous studies [1], a recedinghorizon method is pro...

Sliding Horizon Feedback Control