TR2015-118

Continuation model predictive control on smooth manifolds

    •  Knyazev, A., Malyshev, A., "Continuation Model Predictive Control on Smooth Manifolds", IFAC Workshop on Control Applications of Optimization (CAO), DOI: 10.1016/​j.ifacol.2015.11.071, October 2015, vol. 48, pp. 126-131.
      BibTeX TR2015-118 PDF
      • @inproceedings{Knyazev2015oct1,
      • author = {Knyazev, A. and Malyshev, A.},
      • title = {Continuation Model Predictive Control on Smooth Manifolds},
      • booktitle = {IFAC Workshop on Control Applications of Optimization (CAO)},
      • year = 2015,
      • volume = 48,
      • number = 25,
      • pages = {126--131},
      • month = oct,
      • publisher = {IFAC-PapersOnLine},
      • doi = {10.1016/j.ifacol.2015.11.071},
      • issn = {2405-8963},
      • url = {https://www.merl.com/publications/TR2015-118}
      • }
  • Research Areas:

    Control, Optimization

Abstract:

Model predictive control (MPC) anticipates future events to take appropriate control actions. Nonlinear MPC (NMPC) describes systems with nonlinear models and/or constraints. Continuation MPC, suggested by T. Ohtsuka in 2004, uses Krylov-Newton iterations. Continuation MPC is suitable for nonlinear problems and has been recently adopted for minimum time problems. We extend the continuation MPC approach to a case where the state is implicitly constrained to a smooth manifold. We propose an algorithm for on-line controller implementation and demonstrate its numerical effectiveness for a test problem on a hemisphere.

 

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