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Operations Research, Systems Engineering and Industrial Engineering Commons

Open Access. Powered by Scholars. Published by Universities.®

2001

GRASP

Articles 1 - 2 of 2

Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

On The Stability Of Unconstrained Receding Horizon Control With A General Terminal Cost, Ali Jadbabaie, John Hauser Dec 2001

On The Stability Of Unconstrained Receding Horizon Control With A General Terminal Cost, Ali Jadbabaie, John Hauser

Departmental Papers (ESE)

This paper deals with unconstrained receding horizon control of nonlinear systems with a general, non-negative terminal cost. Earlier results have indicated that when the terminal cost is a suitable local control Lyapunov function, the receding horizon scheme is stabilizing for any horizon length. In a recent paper, the authors show that there always exist a uniform horizon length which guarantees stability of the receding horizon scheme over any sub-level set of the finite horizon cost when the terminal cost is identically zero. In this paper, we extend this result to the case where the terminal cost is a general non-negative ...


Preliminary Analysis Of A Biologically Inspired 1-Dof "Clock" Stabilized Hopper, Haldun Komsuoglu, Daniel E. Koditschek Jan 2001

Preliminary Analysis Of A Biologically Inspired 1-Dof "Clock" Stabilized Hopper, Haldun Komsuoglu, Daniel E. Koditschek

Departmental Papers (ESE)

We investigate the stability of a one degree of freedom mechanical spring-mass system modulated by a feed-forward "clock" that stiffens and relaxes a Hooke's law potential force according to a periodic rhythm. At the present early stage of inquiry, we offer sufficient conditions for local asymptotic stability of an isolated periodic orbit when there is no feedback to the clock at all but some viscous friction in the mechanism. We conjecture that, absent feedback, a lossless mechanical system cannot exhibit an asymptotically stable limit cycle in response to such rhythmic excitation.