Continuation model predictive control on smooth manifolds
Incremental extension of continuation MPC to a specific class of constrained systems, relevant for robotics and control applications.
Extended continuation MPC to handle state constraints on smooth manifolds, proposing an online algorithm and demonstrating numerical effectiveness on a hemisphere test problem.
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.