Abstract:Receding horizon optimal control problems compute the solution at each time step to operate the system on a near-optimal path. However, in many practical cases, the boundary conditions, such as external inputs, constraint equations, or the objective function, vary only marginally from one time step to the next. In this case, recomputing the optimal solution at each time represents a significant burden for real-time applications. This paper proposes a novel algorithm to approximately solve a perturbed constrain… Show more
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