OPTIMIZED-BASED STABILIZATION OF CONSTRAINED NONLINEAR SYSTEMS: A RECEDING HORIZON APPROACH

The problem of stabilizing constrained nonlinear systems while optimizing performance is investigated in this paper. The tool of weak control Lyapunov functions (WCLFs) is introduced to construct a tuning Sontag's controller where some adjustable parameters are optimized with respect to given performances in a receding horizon fashion. Two algorithms are presented and the corresponding closed-loop systems with input constraints are proven to be stable in some regions by using the LaSalle's theorem and the properties of WCLFs. Moreover, the inverse optimality result of the controller is achieved. Finally, two open-loop unstable examples are used to illustrate the performance and effectiveness of the results obtained here.