Monitoring Control Updating Period In Fast Gradient Based NMPC

TL;DR

This paper introduces an online monitoring method for control updating periods in fast-gradient-based NMPC, aiming to optimize real-time control performance for systems with rapid dynamics.

Contribution

It presents a computationally efficient technique to adaptively recover the optimal control updating period during real-time operation.

Findings

The method effectively adapts the updating period in a constrained triple integrator example.

It demonstrates improved control performance with minimal computational overhead.

The approach is suitable for real-time applications with fast system dynamics.

Abstract

In this paper, a method is proposed for on-line monitoring of the control updating period in fast-gradient-based Model Predictive Control (MPC) schemes. Such schemes are currently under intense investigation as a way to accommodate for real-time requirements when dealing with systems showing fast dynamics. The method needs cheap computations that use the algorithm on-line behavior in order to recover the optimal updating period in terms of cost function decrease. A simple example of constrained triple integrator is used to illustrate the proposed method and to assess its efficiency.