?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.relation=http%3A%2F%2Feprints.imtlucca.it%2F2624%2F&rft.title=A+convex+feasibility+approach+to+anytime+model+predictive+control&rft.creator=Bemporad%2C+Alberto&rft.creator=Bernardini%2C+Daniele&rft.creator=Patrinos%2C+Panagiotis&rft.subject=TJ+Mechanical+engineering+and+machinery&rft.subject=TL+Motor+vehicles.+Aeronautics.+Astronautics&rft.description=This+paper+proposes+to+decouple+performance+optimization+and+enforcement+of+asymptotic+convergence+in+Model+Predictive+Control+(MPC)+so+that+convergence+to+a+given+terminal+set+is+achieved+independently+of+how+much+performance+is+optimized+at+each+sampling+step.+By+embedding+an+explicit+decreasing+condition+in+the+MPC+constraints+and+thanks+to+a+novel+and+very+easy-to-implement+convex+feasibility+solver+proposed+in+the+paper%2C+it+is+possible+to+run+an+outer+performance+optimization+algorithm+on+top+of+the+feasibility+solver+and+optimize+for+an+amount+of+time+that+depends+on+the+available+CPU+resources+within+the+current+sampling+step+(possibly+going+open-loop+at+a+given+sampling+step+in+the+extreme+case+no+resources+are+available)+and+still+guarantee+convergence+to+the+terminal+set.+While+the+MPC+setup+and+the+solver+proposed+in+the+paper+can+deal+with+quite+general+classes+of+functions%2C+we+highlight+the+synthesis+method+and+show+numerical+results+in+case+of+linear+MPC+and+ellipsoidal+and+polyhedral+terminal+sets.+&rft.publisher=ArXiv&rft.date=2015-02&rft.type=Working+Paper&rft.type=NonPeerReviewed&rft.identifier=++Bemporad%2C+Alberto+and+Bernardini%2C+Daniele+and+Patrinos%2C+Panagiotis++A+convex+feasibility+approach+to+anytime+model+predictive+control.++Working+Paper+++ArXiv+++++++(Submitted)+++&rft.relation=http%3A%2F%2Farxiv.org%2Fabs%2F1502.07974