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Nonlinear Model predictive control (NMPC) suffers from the problems of closed loop instability and computational complexity, which greatly limit the applications of NMPC in real plants involving fast time-varying dynamics. During previous work, the authors have supposed a new real-time NMPC algorithm based on the concept of generalized pointwise min-norm (GPMN) scheme. And in this paper, the new real-time...
In this paper, a new robust and optimization based nonlinear controller with respect to a certain kind of nonlinear disturbed systems is proposed based on control Lyapunov functions (CLF) concept and receding horizon control (RHC) scheme. This new controller can be divided into two components, one is the robust control law with measurable disturbance information; another is the robust receding horizon...
A kinematic model of tracked vehicles is established in this paper, in which both longitudinal and lateral slipping is considered and processed as three time-varying parameters. Unscented Kalman filter is then introduced to real time estimate the pose and slipping parameters jointly. A stable tracking control law for this nonholonomic system is proposed and the asymptotic stability is guaranteed by...
A new formulation of nonlinear controller design method based on control Lyapunov function, called generalized pointwise min-norm (GPMN) controller, is introduced in this paper by generalizing the pointwise min-norm (PMN) controller presented by Freeman etc. And combining the GPMN controller with design-via-linearization approach of nonlinear system, we can obtain a new nonlinear controller design...
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