期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 31, 期 18, 页码 8830-8854出版社
WILEY
DOI: 10.1002/rnc.5284
关键词
iterative improvement; learning model predictive control; minimum time; predictive control
资金
- Hyundai Center of Excellence
- Office of Naval Research Global [N00014-18-1-2833]
This paper presents a Learning Model Predictive Control (LMPC) strategy for linear and nonlinear time optimal control problems. The LMPC policy is time varying and guarantees recursive constraint satisfaction and non-decreasing performance through constructing time varying safe set and terminal cost function. Computational efficiency is achieved by convexifing the time-varying safe set and terminal cost function.
In this paper we present a Learning Model Predictive Control (LMPC) strategy for linear and nonlinear time optimal control problems. Our work builds on existing LMPC methodologies and it guarantees finite time convergence properties for the closed-loop system. We show how to construct a time varying safe set and terminal cost function using closed-loop data. The resulting LMPC policy is time varying and it guarantees recursive constraint satisfaction and non-decreasing performance. Computational efficiency is obtained by convexifing the time-varying safe set and time-varying terminal cost function. We demonstrate that, for a class of nonlinear system and convex constraints, the convex LMPC formulation guarantees recursive constraint satisfaction and nondecreasing performance. Finally, we illustrate the effectiveness of the proposed strategies on minimum time obstacle avoidance and racing examples.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据