Abstract
In this study, backstepping control integrated with Lyapunov-based model predictive control (BS-MPC) is proposed for nonlinear systems in a strict-feedback form. The virtual input of the first step is designed by solving the finite-horizon optimal control problem (FHOCP), and the real input is designed by the backstepping method. BS-MPC guarantees (semiglobal) ultimate boundedness of the closed-loop system when the control is implemented in a zero-order hold manner. When the robustness of BS-MPC is analyzed for uniformly bounded disturbances, the ultimate boundedness of the solution of perturbed system is guaranteed. BS-MPC can provide a better desired value of the virtual input of the first step by solving the FHOCP, resulting in a faster stabilization of the system compared with the backstepping control. In addition, BS-MPC requires less computational load compared with MPC because the dimension of the states considered in the on-line optimization problem of BS-MPC is lower than that of MPC.
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