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arXiv · 2303.13993

Nonlinear Dual control based on Fast Moving Horizon estimation and Model Predictive Control with an observability constraint

Emilien Flayac·Girish Nair·Iman Shames
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Abstract

This paper proposes an algorithm that combines Fast Moving Horizon Parameter Estimation and Model Predictive Control subject to an observability constraint designed to ensure a lower bound on the performance of the parameter estimator. Output-feedback stability is proved through input-to-state stability of the state/error system under a small noise and initial error assumption. Numerical experiments have been carried out in the case of Active Simultaneous Localisation and Mapping (SLAM).

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Emilien Flayac, Girish Nair, Iman Shames. 2023-03-24. Nonlinear Dual control based on Fast Moving Horizon estimation and Model Predictive Control with an observability constraint. https://doi.org/10.1109/cdc45484.2021.9683222

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