MORE | Fall 2023

Development of Non-Overshooting Model Predictive Control with Terminal Constraints and/or Costs

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The topic involves theoretical findings regarding the development of terminal constraints and/or costs for non-overshooting Model Predictive Control (MPC) scheme. The researcher established two pathways to guarantee the stability and feasibility of the solution. The traditional methods of using terminal constraints to achieve stability and feasibility were briefly discussed and tested. The newer technique by excluding terminal constraints and cost was explored and tested in simulation. This technique provided advantages in reducing the computation burden and horizon length and, therefore aided in real-time computational capabilities. However, it was noted that the right technique depended entirely on the specifics of the problem.

Student researcher

Rohan Khaire

Robotics and autonomous systems

Hometown: Thane, Maharashtra, India

Graduation date: Spring 2024