Suboptimal Shrinking Horizon MPC with a Lower Hessian Condition Number from Adjustable Terminal Cost
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866911299740368896 |
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| author | van Leeuwen, Steven Kolmanovsky, Ilya |
| author_facet | van Leeuwen, Steven Kolmanovsky, Ilya |
| contents | A strategy for reducing the number of iterations and computational burden in shrinking horizon Model Predictive Control (SH-MPC) when steering into a prescribed terminal set despite unmeasured disturbances is proposed. This strategy exploits dynamic adjustment of the terminal cost weight and horizon length while ensuring that the terminal set is reached within a desired number of steps. A lower Hessian condition number which facilitates the computational reduction is proved under assumptions, and an example of spacecraft nutation damping using the proposed approach is reported. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_03410 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Suboptimal Shrinking Horizon MPC with a Lower Hessian Condition Number from Adjustable Terminal Cost van Leeuwen, Steven Kolmanovsky, Ilya Optimization and Control A strategy for reducing the number of iterations and computational burden in shrinking horizon Model Predictive Control (SH-MPC) when steering into a prescribed terminal set despite unmeasured disturbances is proposed. This strategy exploits dynamic adjustment of the terminal cost weight and horizon length while ensuring that the terminal set is reached within a desired number of steps. A lower Hessian condition number which facilitates the computational reduction is proved under assumptions, and an example of spacecraft nutation damping using the proposed approach is reported. |
| title | Suboptimal Shrinking Horizon MPC with a Lower Hessian Condition Number from Adjustable Terminal Cost |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2512.03410 |