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Efficient soft-constrained tracking control

Published on:

7 March 2024

Primary Category:

Systems and Control

Paper Authors:

Victor Gracia,

Pablo Krupa,

Daniel Limon,

Teodoro Alamo


Key Details

Proposes softening constraints in tracking MPC formulation

Keeps optimization efficient by preserving semi-banded structure

Shows better performance than slack-variable approach

Numerical results highlight computational benefits

AI generated summary

Efficient soft-constrained tracking control

This paper proposes an efficient way to implement a model predictive tracking controller that can handle situations where constraints become infeasible. It does this by softening most constraints, meaning they can be violated at a cost, while keeping the optimization problem efficient to solve. This provides robustness against model errors and disturbances causing feasibility issues.

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