In this paper, it is shown that a simple formulation of Economic Model Predictive Control can be used which possesses two features are generally viewed as mutually exclusive, namely, rather short prediction horizon (reachability-compatible) on one side, and the absence final constraint other side. Practical stability at an arbitrarily small neighborhood optimal unknown steady-state pair when so...

The problem of constructing nonlinear adaptive H∞ control of robotic manipulators under costraints is considered in this paper. In the proposed control scheme, the trajectory converges to the desired constrained trajectory, and the constraint force also follows the desired constraint one. The resulting control strategy is derived as a solution of certain H∞ control problem, where estimation err...