Receding horizon stabilization of a class of constrained nonholonomic systems

@article{Li2016RecedingHS,
  title={Receding horizon stabilization of a class of constrained nonholonomic systems},
  author={Huiping Li and Weisheng Yan and Yang Shi and Zhenyuan Fan and Hong Xin Li},
  journal={2016 12th World Congress on Intelligent Control and Automation (WCICA)},
  year={2016},
  pages={188-193}
}
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… CONTINUE READING