Abstract
An optimal control problem for nonlinear systems is useful because various control objectives can be included in the cost function such as rapid stabilization and input cost minimization. However, there exist input restrictions of actuators and state constraints that arise from the movable region of the system in the real system. Therefore, the optimal control problem should be solved to satisfy these restrictions. In this paper, we propose a new method to realize nonlinear receding-horizon control under input restrictions and state constraints. First, a receding horizon control problem is formulated. Next, a new real-time optimization method is proposed. Then, the method is applied to solve a receding-horizon control problem of a wheeled vehicle. The effectiveness of the proposed method is shown through simulations and experimental results.
