A barrier function approach to constrained Pontryagin-based Nonlinear Model Predictive Control
Optimization and Control
2022-03-31 v1 Systems and Control
Systems and Control
Abstract
A Pontryagin-based approach to solve a class of constrained Nonlinear Model Predictive Control problems is proposed which employs the method of barrier functions for dealing with the state constraints. Unlike the existing works in literature the proposed method is able to cope with nonlinear input and state constraints without any significant modification of the optimization algorithm. A stability analysis of the closed-loop system is carried out by using the L-2 norm of the predicted state tracking error as a Lyapunov function. Theoretical results are tested and confirmed by numerical simulations on the Lotka-Volterra prey/predator system.
Cite
@article{arxiv.2203.16377,
title = {A barrier function approach to constrained Pontryagin-based Nonlinear Model Predictive Control},
author = {Michele Pagone and Mattia Boggio and Carlo Novara and Anton Proskurnikov and Giuseppe C. Calafiore},
journal= {arXiv preprint arXiv:2203.16377},
year = {2022}
}
Comments
11 pages, 5 figures