제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.27.2-27
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- 2001
Receding Horizon Predictive Control for Nonlinear Time-delay Systems
- Kwon, Wook-Hyun (Seoul Univ.) ;
- Lee, Young-Sam (Seoul Univ.) ;
- Han, Soo-Hee (Seoul Univ.)
- Published : 2001.10.01
Abstract
This paper proposes a receding horizon predictive control (RHPC) for nonlinear time-delay systems. The control law is obtained by minimizing finite horizon cost with a terminal weighting functional. An inequality condition on the terminal weighting functional is presented, under which the closed-loop stability of RHPC is guaranteed, A special class of nonlinear time-delay systems is introduced and a systematic method to find a terminal weighting functional satisfying the proposed inequality condition is given for these systems. Through a simulation example, it is demonstrated that the proposed RHPC has the guaranteed closed-loop stability for nonlinear time-delay systems.
Keywords