Recursive Feasibility without Terminal Constraints via Parent-Child MPC Architecture

Filip Surma; Anahita Jamshidnejad

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arXiv · 2507.10166

Recursive Feasibility without Terminal Constraints via Parent-Child MPC Architecture

Filip Surma·Anahita Jamshidnejad

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Abstract

This paper proposes a novel hierarchical model predictive control (MPC) framework, called the Parent-Child MPC architecture, to steer nonlinear systems under uncertainty towards a target set, balancing computational complexity and guaranteeing recursive feasibility and stability without relying on conservative terminal constraints in online decision-making. By coupling a small-horizon Child MPC layer with one or more large-horizon Parent MPC layers, the architecture ensures recursive feasibility and stability through adjustable stage-wise constraints derived from tube-based control. As is demonstrated in our case studies, compared to traditional MPC methods, the proposed Parent-Child MPC architecture enhances performance and computational efficiency, reduces conservativeness, and enables scalable planning for certain nonlinear systems.

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BibTeX RIS

Filip Surma, Anahita Jamshidnejad. 2025-07-14. Recursive Feasibility without Terminal Constraints via Parent-Child MPC Architecture. https://arxiv.org/abs/2507.10166

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