Titlebook: Recent Advances in Model Predictive Control; Theory, Algorithms, Timm Faulwasser,Matthias A. Müller,Karl Worthmann Book 2021 The Editor(s)

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Predictive Path Following Control Without Terminal Constraints,itions in the framework of cost controllability. Then, we analyze cost controllability for path-following problems of differentially flat systems. Using this result, we establish that under suitable assumptions MPFC without terminal constraints or penalties leads to asymptotic stability provided the

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Primal or Dual Terminal Constraints in Economic MPC? Comparison and Insights,y assumption on the underlying optimal control problem (OCP). This includes schemes with and without stabilizing terminal constraints, respectively, or with stabilizing terminal costs. We recall that a recently proposed approach based on gradient correcting terminal penalties implies a terminal cons

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Multi-level Iterations for Economic Nonlinear Model Predictive Control,challenge. In this chapter, we present an extended multi-level iteration scheme (MLI) and discuss the interplay of exact Hessian and Hessian approximations. We show the importance of proper use of regularization strategies for indefinite Hessian matrices and compare it to quasi-Newton methods. The i

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Collision Avoidance for Mobile Robots Based on an Occupancy Grid,ny cases a necessary ingredient to steer such a system to its defined target in a reasonable time. Considering short sampling times due to the movement of mobile robots, the communication burden increases with a high density of robots in a shared continuous space. To attenuate the transmission load,

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