Comparison of receding horizon control and an adaptive approach to cost reduction using Lyapunov design in nonlinear systems

The goal of this paper is to compare two optimality based methods for control of nonlinear systems. A comparative study of receding horizon control and an adaptive technique for cost reduction in nonlinear systems is presented. The adaptive technique is based on Lyapunov design and was developed by Freeman (1997). Both receding horizon control and this new Lyapunov-based adaptive technique provide the tools for performance improvement in nonlinear systems. Simulations show that both methods provide improvement in nonlinear system performance versus standard Lyapunov stabilization.