A low dimensional contractive NMPC scheme for nonlinear systems stabilization: theoretical framework and numerical investigation on relatively fast systems
type: Dataset
description: In this paper, a new contractive receding horizon scheme is proposed for the stabilization of constrained nonlinear systems. The proposed formulation uses a free finite prediction horizon without explicit use of a contraction stability constraint. Another appealing feature is the fact that the resulting receding horizon control is in pure feedback form unlike existing contractive schemes where open-loop phases or a memorized threshold are used to ensure the contraction property in closed loop. The control scheme is validating on the swing-up and stabilization problem of a simple and a double inverted pendulums.
issued: 2026-05-10T18:01:24.840099
language: en
modified: 2026-05-10T18:01:24.840104
contact point: Organization
  fn: CCSD
keyword: book-sections
keyword: constrained
keyword: contractive-scheme
keyword: fast-systems
keyword: infoeu-reposemanticsbookpart
keyword: nmpc
keyword: nonlinear-stabilization
keyword: spiotherengineering-sciences-physicsother
landing page: Assesment and Future Directions of Nonlinear Model Predicitive Control

A low dimensional contractive NMPC scheme for nonlinear systems stabilization: theoretical framework and numerical investigation on relatively fast systems
type: Distribution
format: HTML
issued: 2026-05-10T18:01:24.851199
modified: 2026-05-10T18:01:24.830330
access URL: https://hal.science/hal-00083355

test_moissonnage_selune
type: Agent