Publications > HM10
[HM10]
E.N. Hartley and J.M. Maciejowski,
Model Predictive Control with a Rubber Horizon: Application to Spacecraft Rendezvous,
Automatica,
submitted
Abstract
This paper introduces the “rubber horizon” as a concept for use with model predictive control. The objective is to guarantee a trajectory that passes through a particular target set without requiring an initial prediction horizon to cover the whole trajectory. This is done by partitioning the prediction horizon into two decoupled components, with only the requirement that there exists a feasible trajectory from the end of the first trajectory to the beginning of the second. This implied trajectory need not be of fixed duration, motivating the choice of nomenclature. When the two explicitly calculated trajectories merge together, the formulation collapses into a more conventional variable horizon formulation whose completion properties are then inherited.
