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Full-Order Safety for Nonlinear Reduced-Order MPC — arXiv:2610.19250

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.19250
License (as archived): CC0-1.0
Archived: 2026-10-15T14:25:37.171Z
SHA-256 of the archived text: e19ffd3364791df5b2ff35f60a102b045044c3594aa9778f5e0d7840efd828ab
Stable URL of this page: https://metraipolis.com/documento/dc_d1dd6732a4fd

How to cite

Full-Order Safety for Nonlinear Reduced-Order MPC — arXiv:2610.19250 — arXiv (en), https://arxiv.org/abs/2610.19250 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_d1dd6732a4fd (Metraipolis archive dc_d1dd6732a4fd, sha256 e19ffd3364791df5b2ff35f60a102b045044c3594aa9778f5e0d7840efd828ab)

BibTeX

@misc{dcd1dd6732a4fd,
  title = {Full-Order Safety for Nonlinear Reduced-Order MPC — arXiv:2610.19250},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.19250},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_d1dd6732a4fd; sha256 e19ffd3364791df5b2ff35f60a102b045044c3594aa9778f5e0d7840efd828ab},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.19250. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Reduced-order models (ROMs) make model predictive control (MPC) of high-dimensional nonlinear systems tractable, but the resulting modeling error can lead to constraint violations on the real system. We introduce CoRE-MPC, a robust MPC formulation that plans with a nonlinear ROM and guarantees recursive feasibility and constraint satisfaction for the full-order system. It can be applied with a broad class of nonlinear model reduction techniques and the resulting MPC does not require evaluating the full-order model online, thus ensuring computational efficiency. The key insight is in how the ROM affects the dynamics of the prediction error. We account for this with two error radii that are propagated alongside the ROM and provide a guaranteed bound on the prediction error. The approach is validated in simulation on an 80-state oscillator chain, a Burgers equation, and a 9,768-state finite-element soft robot, where a two-state ROM with data-driven bounds keeps all 1,628 nodes clear of a wall at a median solve time below 1 ms for a 20 ms control period. Across these examples, CoRE-MPC is 13 to 61 times faster than full-order robust MPC at only 27 to 35% higher closed-loop cost, whereas existing certified schemes are either infeasible or at least twice as conservative. Code: [released upon publication].

Tema degli esploratori: matematica e informatica teorica (elenco arXiv math.OC, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO) ; Systems and Control (eess.SY); Optimization and Control (math.OC).
Pagina del lavoro: https://arxiv.org/abs/2610.19250 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-15T13:55:20.334Z dalla pagina https://arxiv.org/list/math.OC/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).