TY - GEN
T1 - Receding horizon stabilization of a class of constrained nonholonomic systems
AU - Li, Huiping
AU - Yan, Weisheng
AU - Shi, Yang
AU - Fan, Zhenyuan
AU - Li, Hong
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/27
Y1 - 2016/9/27
N2 - This paper studies the receding horizon control (RHC)-based stabilization problem of a class of constrained nonholonomic systems in power form. A non-quadratic cost function is constructed by using the homogeneous norm of the nonholonomic system in power form. Based on this novel cost function, a novel RHC algorithm is designed. The feasibility of the designed algorithm and the closed-loop stability are analyzed, and theoretically ensured under mild conditions. A simulation result is provided to verify the effectiveness of the proposed algorithm.
AB - This paper studies the receding horizon control (RHC)-based stabilization problem of a class of constrained nonholonomic systems in power form. A non-quadratic cost function is constructed by using the homogeneous norm of the nonholonomic system in power form. Based on this novel cost function, a novel RHC algorithm is designed. The feasibility of the designed algorithm and the closed-loop stability are analyzed, and theoretically ensured under mild conditions. A simulation result is provided to verify the effectiveness of the proposed algorithm.
UR - http://www.scopus.com/inward/record.url?scp=84991711558&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2016.7578335
DO - 10.1109/WCICA.2016.7578335
M3 - 会议稿件
AN - SCOPUS:84991711558
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 188
EP - 193
BT - Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th World Congress on Intelligent Control and Automation, WCICA 2016
Y2 - 12 June 2016 through 15 June 2016
ER -