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Nonlinear receding-horizon output feedback control

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2 Author(s)
Ohtsuka, T. ; Tsukuba Univ., Ibaraki, Japan ; Ohata, K.

We propose an algorithm for nonlinear receding-horizon output feedback control by combining a real-time nonlinear optimal state feedback control algorithm and a real-time nonlinear optimal state estimation algorithm. The algorithms of state feedback control and state estimation are obtained by minimizing receding-horizon performance indexes. Application of the stabilized continuation method results in algorithms that do not involve any successive approximation methods. Simulation results of a 2-wheeled car clarify characteristics of the output feedback control algorithm

Published in:

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on  (Volume:5 )

Date of Conference:

10-12 Dec 1997

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