Efficient soft-constrained tracking control

Paper Title:

Implementation of soft-constrained MPC for Tracking using its semi-banded problem structure

Published on:

7 March 2024

Primary Category:

Systems and Control

Paper Authors:

Victor Gracia,

Pablo Krupa,

Daniel Limon,

Teodoro Alamo

Bullets

Key Details

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Proposes softening constraints in tracking MPC formulation

•

Keeps optimization efficient by preserving semi-banded structure

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Shows better performance than slack-variable approach

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Numerical results highlight computational benefits

Explore the topics in this paper

constraint handling

feasibility

model predictive control

optimization

robustness

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.