@article{16297,
  abstract     = {{In real-world problems, uncertainties (e.g., errors in the measurement,
precision errors) often lead to poor performance of numerical algorithms when
not explicitly taken into account. This is also the case for control problems,
where optimal solutions can degrade in quality or even become infeasible. Thus,
there is the need to design methods that can handle uncertainty. In this work,
we consider nonlinear multi-objective optimal control problems with uncertainty
on the initial conditions, and in particular their incorporation into a
feedback loop via model predictive control (MPC). In multi-objective optimal
control, an optimal compromise between multiple conflicting criteria has to be
found. For such problems, not much has been reported in terms of uncertainties.
To address this problem class, we design an offline/online framework to compute
an approximation of efficient control strategies. This approach is closely
related to explicit MPC for nonlinear systems, where the potentially expensive
optimization problem is solved in an offline phase in order to enable fast
solutions in the online phase. In order to reduce the numerical cost of the
offline phase, we exploit symmetries in the control problems. Furthermore, in
order to ensure optimality of the solutions, we include an additional online
optimization step, which is considerably cheaper than the original
multi-objective optimization problem. We test our framework on a car
maneuvering problem where safety and speed are the objectives. The
multi-objective framework allows for online adaptations of the desired
objective. Alternatively, an automatic scalarizing procedure yields very
efficient feedback controls. Our results show that the method is capable of
designing driving strategies that deal better with uncertainties in the initial
conditions, which translates into potentially safer and faster driving
strategies.}},
  author       = {{Hernández Castellanos, Carlos Ignacio and Ober-Blöbaum, Sina and Peitz, Sebastian}},
  journal      = {{International Journal of Robust and Nonlinear Control}},
  pages        = {{7593--7618}},
  title        = {{{Explicit Multi-objective Model Predictive Control for Nonlinear Systems  Under Uncertainty}}},
  doi          = {{10.1002/rnc.5197}},
  volume       = {{30(17)}},
  year         = {{2020}},
}