An update-aware min-max MPC algorithm for nonlinear systems expands the feasible set and improves worst-case cost bounds by explicitly planning for future control updates via nested semi-infinite programs.
Control of constrained dynamic systems,
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Update-Aware Robust Optimal Model Predictive Control for Nonlinear Systems
An update-aware min-max MPC algorithm for nonlinear systems expands the feasible set and improves worst-case cost bounds by explicitly planning for future control updates via nested semi-infinite programs.