A penalty function approach to constrained Pontryagin-based Nonlinear Model Predictive Control.
Michele PagoneMattia BoggioCarlo NovaraAnton V. ProskurnikovGiuseppe Carlo CalafiorePublished in: CDC (2022)
Keyphrases
- penalty function
- saddle point
- constrained optimization
- constraint handling
- lagrange multipliers
- hard constraints
- constrained optimization problems
- penalty functions
- genetic algorithm
- unconstrained optimization
- objective function
- fitness function
- nonlinear model predictive control
- dynamic model
- genetic programming
- image based visual servoing