Online Weight-adaptive Nonlinear Model Predictive Control
Dimche Kostadinov,Davide Scaramuzza,Dimche Kostadinov,Davide Scaramuzza
Nonlinear Model Predictive Control (NMPC) is a powerful and widely used technique for nonlinear dynamic process control under constraints. In NMPC, the state and control weights of the corresponding state and control costs are commonly selected based on human-expert knowledge, which usually reflects the acceptable stability in practice. Although broadly used, this approach might not be optimal for...
