{"title":"Contraction Analysis of Continuation Method for Suboptimal Model Predictive Control","authors":"Ryotaro Shima, Yuji Ito, Tatsuya Miyano","doi":"arxiv-2409.10970","DOIUrl":null,"url":null,"abstract":"This letter presents contraction analysis of continuation method for\nsuboptimal model predictive control. A contraction metric is proposed that\nreflects hierarchical dynamics inherent in the continuation method and, thus,\nleads us to a pair of tractable matrix inequalities characterizing contraction\nof closed-loop system controlled by the continuation method. A numerical\nexample verifies our contraction analysis and demonstrates the tractability of\nthe presented matrix inequalities.","PeriodicalId":501286,"journal":{"name":"arXiv - MATH - Optimization and Control","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"arXiv - MATH - Optimization and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/arxiv-2409.10970","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This letter presents contraction analysis of continuation method for
suboptimal model predictive control. A contraction metric is proposed that
reflects hierarchical dynamics inherent in the continuation method and, thus,
leads us to a pair of tractable matrix inequalities characterizing contraction
of closed-loop system controlled by the continuation method. A numerical
example verifies our contraction analysis and demonstrates the tractability of
the presented matrix inequalities.
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