arXiv subjects

Steven van Leeuwen

Publications and source records attributed to Steven van Leeuwen.

3 recordsLinked to original sources

arXiv2025

Suboptimal Shrinking Horizon MPC with a Lower Hessian Condition Number from Adjustable Terminal Cost

A strategy for reducing the number of iterations and computational burden in shrinking horizon Model Predictive Control (SH-MPC) when steering into a prescribed terminal set despite unmeasured disturbances is proposed. This strategy exploits dynamic adjustment of the terminal cost weight and horizon length while ensuring that the terminal set is reached within a desired number of steps. A lower Hessian condition number which facilitates the computational reduction is proved under assumptions, and an example of spacecraft nutation damping using the proposed approach is reported.

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arXiv2025

Suboptimal MPC with a Computation Governor: Stability, Recursive Feasibility, and Applications to ADMM

The paper considers a computational governor strategy to facilitate the implementation of Model Predictive Control (MPC) based on inexact optimization when the time available to compute the solution may be insufficient. In the setting of linear-quadratic MPC and a class of optimizers that includes Alternating Direction Method of Multipliers (ADMM), we derive conditions on the reference command adjustment by the computational governor and on a constraint tightening strategy which ensure recursive feasibility, convergence of the modified reference command, and closed-loop stability. An online procedure to select the modified reference command and construct an implicit terminal set is also proposed. A simulation example is reported which illustrates the developed procedures.

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arXiv2020

A Chance Constraint Predictive Control and Estimation Framework for Spacecraft Descent with Field Of View Constraints

Recent studies of optimization methods and GNC of spacecraft near small bodies focusing on descent, landing, rendezvous, etc., with key safety constraints such as line-of-sight conic zones and soft landings have shown promising results; this paper considers descent missions to an asteroid surface with a constraint that consists of an onboard camera and asteroid surface markers while using a stochastic convex MPC law. An undermodeled asteroid gravity and spacecraft technology inspired measurement model is established to develop the constraint. Then a computationally light stochastic Linear Quadratic MPC strategy is presented to keep the spacecraft in satisfactory field of view of the surface markers while trajectory tracking, employing chance based constraints and up-to-date estimation uncertainty from navigation. The estimation uncertainty giving rise to the tightened constraints is particularly addressed. Results suggest robust tracking performance across a variety of trajectories.

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