---
res:
bibo_abstract:
- "Model predictive control is a prominent approach to construct a feedback\r\ncontrol
loop for dynamical systems. Due to real-time constraints, the major\r\nchallenge
in MPC is to solve model-based optimal control problems in a very\r\nshort amount
of time. For linear-quadratic problems, Bemporad et al. have\r\nproposed an explicit
formulation where the underlying optimization problems are\r\nsolved a priori
in an offline phase. In this article, we present an extension\r\nof this concept
in two significant ways. We consider nonlinear problems and -\r\nmore importantly
- problems with multiple conflicting objective functions. In\r\nthe offline phase,
we build a library of Pareto optimal solutions from which we\r\nthen obtain a
valid compromise solution in the online phase according to a\r\ndecision maker's
preference. Since the standard multi-parametric programming\r\napproach is no
longer valid in this situation, we instead use interpolation\r\nbetween different
entries of the library. To reduce the number of problems that\r\nhave to be solved
in the offline phase, we exploit symmetries in the dynamical\r\nsystem and the
corresponding multiobjective optimal control problem. The\r\nresults are verified
using two different examples from autonomous driving.@eng"
bibo_authorlist:
- foaf_Person:
foaf_givenName: Sina
foaf_name: Ober-Blöbaum, Sina
foaf_surname: Ober-Blöbaum
foaf_workInfoHomepage: http://www.librecat.org/personId=16494
- foaf_Person:
foaf_givenName: Sebastian
foaf_name: Peitz, Sebastian
foaf_surname: Peitz
foaf_workInfoHomepage: http://www.librecat.org/personId=47427
orcid: https://orcid.org/0000-0002-3389-793X
bibo_doi: 10.1002/rnc.5281
bibo_issue: '2'
bibo_volume: 31
dct_date: 2021^xs_gYear
dct_language: eng
dct_title: Explicit multiobjective model predictive control for nonlinear systems with
symmetries@
...