H. Michalska Previous moving horizon controllers were based on the solution of a family of open-loop optimal control problems with an equality constraint on the terminal state (the state of the system at the end of the optimization horizon was required to be zero). A new class of moving horizon controllers is investigated which does not require the satisfaction of this constraint. It is important for applications since optimal control problems with equality constraints are hard to solve.

Mon Apr 7 12:54:24 EDT 1997