We present an intuitive and self-contained formulation of a stability preserving receding horizon control strategy for a system where limited preview information is available for the disturbances. The simplicity of the derivation is due to (and its benefits somewhat offset by) a set of stringent and highly structured assumptions. The formulation uses a suboptimal value function for terminal cost, and relies on optimization strategies that only require a trivial improvement property, allowing implementation as an “anytime” algorithm. The nature of this strategy’s performance is clarified with linear examples.
Jarvis-Wloszek, Zachary; Philbrick, Douglas; Kaya, M. Alpay; Packard, Andrew; Balas, Gary J..
Control with Disturbance Preview and Online Optimization.
Institute of Electrical and Electronic Engineers.
Retrieved from the University of Minnesota Digital Conservancy,
Content distributed via the University of Minnesota's Digital Conservancy may be subject to additional license and use restrictions applied by the depositor.