A receding-horizon approach to the nonlinear $H_\infty$ control problem

L. Magni, Henk Nijmeijer, Arjan van der Schaft

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    87 Citations (Scopus)


    The receding-horizon (RH) methodology is extended to the design of a robust controller of $H_\infty$ type for nonlinear systems. Using the nonlinear analogue of the fake $H_\infty$H algebraic Riccati equation, we derive an inverse optimality result for the RH schemes for which increasing the horizon causes a decrease of the optimal cost function. This inverse optimality result shows that the input-output map of the closed-loop system obtained with the RH control law has a bounded $L_2$-gain. Robustness properties of the nonlinear $H_\infty$ control law in face of dynamic input uncertainty are considered.
    Original languageUndefined
    Article number10.1016/S0005-1098(00)00166-7
    Pages (from-to)429-435
    Number of pages7
    Issue number3
    Publication statusPublished - 2001


    • EWI-16692
    • Non-linear control
    • Receding-horizon control
    • Robustness
    • HJI equation
    • H-infinity control
    • IR-69077
    • METIS-200876

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