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.
Cite
@article{arxiv.1509.02848,
title = {Continuation model predictive control on smooth manifolds},
author = {Andrew Knyazev and Alexander Malyshev},
journal= {arXiv preprint arXiv:1509.02848},
year = {2016}
}
Comments
6 pages, 8 figures. Accepted to the 16th IFAC Workshop on Control Applications of Optimization (CAO'2015), Garmisch-Partenkirchen, Germany, October 6--9, 2015