NONLINEAR-SYSTEMS WITH CONTROL AND STATE CONSTRAINTS

The tracking control problem for a class of non-linear systems with co ntrol and state constraints is considered. A predictive control approa ch is used to derive the constrained optimal control law. The unique s tructure of the controller allows a parameter to be continuously tuned on-line via the solution of a linear programming problem. The objecti ve is to achieve the most effective control while avoiding control sat uration and performance degradation for systems with bounded control. By a similar predictive technique, a class of state constraints are co nverted into additional control constraints. The control law then accu rately enforces both the control and state constraints. An example is given to demonstrate the effectiveness of the method. (C) 1997 John Wi ley & Sons, Ltd.