Nonlinear Model Predictive Control with Cost Function Scheduling for a Wheeled Mobile Robot
Jaehyun Lim,Hyeonwoo Lee,Jongeun Choi,Jaehyun Lim,Hyeonwoo Lee,Jongeun Choi
Designing a cost function for nonlinear model predictive control (MPC) with a sparse/binary stage cost is challenging. This paper proposes a novel MPC approach with a scheduled quadratic stage cost function that approximates the true stage cost in order to optimally control a nonlinear system with a sparse/binary stage cost. The cost function parameter is optimally scheduled by a parameter schedul...
