Continuation Method for Nonsmooth Model Predictive Control Using Proximal Technique
Fuente:
arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866929741025509376 |
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| author | Shima, Ryotaro Moriyasu, Ryuta Kato, Teruki |
| author_facet | Shima, Ryotaro Moriyasu, Ryuta Kato, Teruki |
| contents | This paper presents a novel framework for the continuation method of model predictive control based on optimal control problem with a nonsmooth regularizer. Via the proximal operator, the first-order optimality inclusion relation is reformulated into an equation system, to which the continuation method is applicable. In addition, we present constraint qualifications that ensure the well-posedness of the proposed equation system. A numerical example is also presented that demonstrates the effectiveness of our approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_14944 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Continuation Method for Nonsmooth Model Predictive Control Using Proximal Technique Shima, Ryotaro Moriyasu, Ryuta Kato, Teruki Optimization and Control This paper presents a novel framework for the continuation method of model predictive control based on optimal control problem with a nonsmooth regularizer. Via the proximal operator, the first-order optimality inclusion relation is reformulated into an equation system, to which the continuation method is applicable. In addition, we present constraint qualifications that ensure the well-posedness of the proposed equation system. A numerical example is also presented that demonstrates the effectiveness of our approach. |
| title | Continuation Method for Nonsmooth Model Predictive Control Using Proximal Technique |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2409.14944 |