A Receding Horizon Strategy for Systems with Interval-Wise Energy Constraints

TL;DR

This paper introduces a receding horizon control method for systems with interval-wise energy constraints, using variable horizon lengths and contractive constraints to ensure stability and handle energy limitations effectively.

Contribution

It presents a novel receding horizon control approach with variable horizon length and contractive constraints for systems with interval-wise energy constraints.

Findings

The method achieves analytic asymptotic stability.

Simulation examples demonstrate effectiveness.

Handles interval-wise total energy constraints efficiently.

Abstract

We propose a receding horizon control strategy that readily handles systems that exhibit interval-wise total energy constraints on the input control sequence. The approach is based on a variable optimization horizon length and contractive final state constraint sets. The optimization horizon, which recedes by N steps every N steps, is the key to accommodate the interval-wise total energy constraints. The varying optimization horizon along with the contractive constraints are used to achieve analytic asymptotic stability of the system under the proposed scheme. The strategy is demonstrated by simulation examples.