Stabilising quasi-time-optimal nonlinear model predictive control with variable discretisation

DOI10.1080/00207179.2021.1929497zbMath1500.93030arXiv2004.09561OpenAlexW3019472360MaRDI QIDQ5043526

Artemi Makarow, Christoph Rösmann, Torsten Bertram

Publication date: 6 October 2022

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2004.09561

zbMATH Keywords

time-optimal controlpredictive controldirect transcriptionminimum-time controlhypergraphdual-modevariable discretisation

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Asymptotic stability in control theory (93D20) Model predictive control (93B45)

Uses Software

• HSL
• MISER3
• Ipopt
• GitHub
• OSQP

Cites Work

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• A Framework for Stabilization of Nonlinear Sampled-Data Systems Based on Their Approximate Discrete-Time Models
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