We present a new algorithm for model predictive control of non-linear systems withrespect to multiple, conicting objectives. The idea is to provide a possibility to change theobjective in real-time, e.g. as a reaction to changes in the environment or the system state itself.The algorithm utilises elements from various well-established concepts, namely multiobjectiveoptimal control, economic as well as explicit model predictive control and motion planning withmotion primitives. In order to realise real-time applicability, we split the computation into anonline and an offine phase and we utilise symmetries in the open-loop optimal control problemto reduce the number of multiobjective optimal control problems that need to be solved inthe offine phase. The results are illustrated using the example of an electric vehicle where thelongitudinal dynamics are controlled with respect to the concurrent objectives arrival time andenergy consumption.
展开▼
