Abstract:In this work, we address the output-feedback control problem for nonlinear systems under bounded disturbances using a moving horizon approach. The controller is posed as an optimisation-based problem that simultaneously estimates the state trajectory and computes future control inputs. It minimizes a criterion that involves finite backward and forward horizons with respect to the unknown initial state, measurement noises and control input variables.The main novelty of this work relies on linking the lengths of… Show more
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