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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/2503.23603 |
| Etiquetas: |
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- 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.