Continuation model predictive control on smooth manifolds

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.

6 pages, 8 figures. Accepted to the 16th IFAC Workshop on Control Applications of Optimization (CAO'2015), Garmisch-Partenkirchen, Germany, October 6--9, 2015

References in corpus (1)

• Preconditioned Continuation Model Predictive Control

Cited by in corpus (3)

• Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces
• Sparse preconditioning for model predictive control
• Least squares dynamics in Newton-Krylov Model Predictive Control