Geometric Data-Driven Dimensionality Reduction in MPC with Guarantees (2312.02734v2)
Abstract: We address the challenge of dimension reduction in the discrete-time optimal control problem which is solved repeatedly online within the framework of model predictive control. Our study demonstrates that a reduced-order approach, aimed at identifying a suboptimal solution within a low-dimensional subspace, retains the stability and recursive feasibility characteristics of the original problem. We present a necessary and sufficient condition for ensuring initial feasibility, which is seamlessly integrated into the subspace design process. Additionally, we employ techniques from optimization on Riemannian manifolds to develop a subspace that efficiently represents a collection of pre-specified high-dimensional data points, all while adhering to the initial admissibility constraint.
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