A New Model Predictive Control Strategy for A ne NonlinearControl
نویسندگان
چکیده
This paper considers the stabilization problem for control-aane nonlinear systems. A gradient-based numerical method is proposed to solve this problem. A receding horizon strategy, from Model Predictive Control, is used to yield a feedback control law. We show that, under certain weak assumptions, the closed-loop system is asymptotically stable. The full swing-up of the cartpole system shows the possibility of considering fast nonlinear systems.
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تاریخ انتشار 1999