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This paper presents a novel approach for timeoptimal model predictive control. In contrast to a global uniform time scaling, the underlying optimal control problem rests upon a dynamic, local temporal discretization of the shooting grid. The approach seeks for a grid partition with minimum overall transition time. Furthermore, a multi-stage optimization iteratively adapts the number of grid points...
This contribution presents a novel approach for nonlinear time-optimal model predictive control (MPC) based on Timed-Elastic-Bands (TEB). The TEB merges the states, control inputs and time intervals into a joint trajectory representation which enables planning of time-optimal trajectories in the context of model predictive control. Model predictive control integrates the planning of the optimal trajectory...
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