A receding-horizon approach to the nonlinear H-infinity control problem

The receding-horizon (RH) methodology is extended to the design of a robust controller of H-infinity type for nonlinear systems. Using the nonlinear a nalogue of the Fake H-infinity algebraic Riccati equation, we derive an inv erse optimality result for the RH schemes for which increasing the horizon causes a decrease of the optimal cost function. This inverse optimality res ult shows that the input-output map of the closed-loop system obtained with the RH control law has a bounded L-2-gain. Robustness properties of the no nlinear H-infinity control law in face of dynamic input uncertainty are con sidered. (C) 2001 Elsevier Science Ltd. All rights reserved.