A Multirate Variational Approach to Nonlinear MPC
2022 European Control Conference (ECC)（2022）
Key words
multirate variational approach,nonlinear MPC,multirate nonlinear model predictive control strategy,control inputs,multirate formulation,system model,receding horizon optimal control problem,larger time steps,prediction horizon,single-rate schemes,computational savings,multirate variational model,tube-based successive linearization NMPC strategy,quadratic Taylor series approximations,linear Taylor series approximations,linearization error,multirate approach
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