| The problem of adaptive receding horizon control for nonlinear systems, and the associated stability of such a method, is an area of great interest. However, this problem has not been well-addressed in the literature.; In this work, a method is proposed for the adaptive receding horizon control of nonlinear systems. The method is based on known receding horizon control methods that employ control Lyapunov functions. The method proposed uses adaptive control Lyapunov functions to generate parameter update laws, ensure stability, and achieve a certain level of performance. A stabilizing controller is also used to guarantee stability and performance, but is also available for use as a back-up controller.; Case studies are provided to illustrate the applicability of the proposed Adaptive RHC + CLF method. Satisfactory performance is achieved for various systems and different stabilizing adaptive controllers. In particular, we consider the application to a class of extremum seeking adaptive control problems and to the adaptive control of nonlinearly parameterized processes. |
