A Hamilton-Jacobi Approach for Nonlinear Model Predictive Control in Applications with Navigational Uncertainty
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866913766805864448 |
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| author | Jain, Amit Eapen, Roshan T. Singla, Puneet |
| author_facet | Jain, Amit Eapen, Roshan T. Singla, Puneet |
| contents | This paper introduces a novel methodology that leverages the Hamilton-Jacobi solution to enhance non-linear model predictive control (MPC) in scenarios affected by navigational uncertainty. Using Hamilton-Jacobi-Theoretic approach, a methodology to improve trajectory tracking accuracy among uncertainties and non-linearities is formulated. This paper seeks to overcome the challenge of real-time computation of optimal control solutions for Model Predictive Control applications by leveraging the Hamilton-Jacobi solution in the vicinity of a nominal trajectory. The efficacy of the proposed methodology is validated within a chaotic system of the planar circular restricted three-body problem. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_23603 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Hamilton-Jacobi Approach for Nonlinear Model Predictive Control in Applications with Navigational Uncertainty Jain, Amit Eapen, Roshan T. Singla, Puneet Optimization and Control This paper introduces a novel methodology that leverages the Hamilton-Jacobi solution to enhance non-linear model predictive control (MPC) in scenarios affected by navigational uncertainty. Using Hamilton-Jacobi-Theoretic approach, a methodology to improve trajectory tracking accuracy among uncertainties and non-linearities is formulated. This paper seeks to overcome the challenge of real-time computation of optimal control solutions for Model Predictive Control applications by leveraging the Hamilton-Jacobi solution in the vicinity of a nominal trajectory. The efficacy of the proposed methodology is validated within a chaotic system of the planar circular restricted three-body problem. |
| title | A Hamilton-Jacobi Approach for Nonlinear Model Predictive Control in Applications with Navigational Uncertainty |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2503.23603 |