Convex reformulations for a special class of nonlinear MPC problems
Systems and Control
2023-04-18 v2 Systems and Control
Abstract
We show how the solution to NMPC problems for a special type of input-affine discrete-time systems can be obtained by reformulating the underlying non-convex optimal control problem in terms of a finite number of convex subproblems. The reformulation is facilitated by exact (input-state) linearization, which is shown to provide beneficial properties for the treated class of systems. We characterize possible types of the resulting convex subproblems and illustrate our approach with three numerical examples.
Keywords
Cite
@article{arxiv.2206.08617,
title = {Convex reformulations for a special class of nonlinear MPC problems},
author = {Manuel Klädtke and Moritz Schulze Darup},
journal= {arXiv preprint arXiv:2206.08617},
year = {2023}
}
Comments
9 pages, 8 figures, submitted to 20th European Control Conference 2022