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Iterative Model Predictive Control for Piecewise Systems

Rosolia, Ugo and Ames, Aaron D. (2022) Iterative Model Predictive Control for Piecewise Systems. IEEE Control Systems Letters, 6 . pp. 842-847. ISSN 2475-1456. doi:10.1109/LCSYS.2021.3086561.

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In this letter, we present an iterative Model Predictive Control (MPC) design for piecewise nonlinear systems. We consider finite time control tasks where the goal of the controller is to steer the system from a starting configuration to a goal state while minimizing a cost function. First, we present an algorithm that leverages a feasible trajectory that completes the task to construct a control policy which guarantees that state and input constraints are recursively satisfied and that the closed-loop system reaches the goal state in finite time. Utilizing this construction, we present a policy iteration scheme that iteratively generates safe trajectories which have non-decreasing performance. Finally, we test the proposed strategy on a discretized Spring Loaded Inverted Pendulum (SLIP) model with massless legs. We show that our methodology is robust to changes in initial conditions and disturbances acting on the system. Furthermore, we demonstrate the effectiveness of our policy iteration algorithm in a minimum time control task.

Item Type:Article
Related URLs:
URLURL TypeDescription Paper
Rosolia, Ugo0000-0002-1682-0551
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2021 IEEE. Manuscript received March 4, 2021; revised May 3, 2021; accepted May 25, 2021. Date of publication June 4, 2021; date of current version June 29, 2021. This work was supported by NSF under Award 1932091. Recommended by Senior Editor M. Guay.
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Subject Keywords:Iterative learning control, predictive control for nonlinear systems, hybrid systems
Record Number:CaltechAUTHORS:20210511-072911881
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Official Citation:U. Rosolia and A. D. Ames, "Iterative Model Predictive Control for Piecewise Systems," in IEEE Control Systems Letters, vol. 6, pp. 842-847, 2022, doi: 10.1109/LCSYS.2021.3086561
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:109063
Deposited By: Tony Diaz
Deposited On:11 May 2021 17:07
Last Modified:08 Jul 2021 16:54

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