Optimization-based control for constrained systems with fast dynamics

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The primary objective of this research proposal is to advance the knowledge and application of optimization-based control for constrained systems with fast dynamics, such as those prevalent in the automotive, robotics and aerospace fields. Although many fast computational schemes and optimization algorithms exist for the unconstrained system, difficulties are often encountered when incorporating constraints directly into the problem formulation. My research aims to develop control algorithms that allow for consistent and practical implementation of constrained optimization schemes on systems with fast dynamics. This involves both the incorporation of generalized state, output and control constraints to fast computational schemes as well as the use and validation of techniques which apply approximate solutions and suboptimal control in order to allow for real-time computational limitations.