Continuation Method for Nonsmooth Model Predictive Control Using Proximal Technique
| Autor: | Shima, Ryotaro, Moriyasu, Ryuta, Kato, Teruki |
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| Rok vydání: | 2024 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | 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. Comment: Submitted to ACC25 |
| Databáze: | arXiv |
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