How to run an economic MPC in a shrinking horizon manner

Hi everyone,

I have solved an OCP with an economic objective function using ACADOS. Now, I want to run an MPC in a shrinking horizon manner. Is there any elegant way rather than reseting the problem configuration?


not exactly sure what shrinking horizon means, but
I guess you can always remove a stage by making it trivial, making the cost zero via weights or parameters and fixing the control input by lower and upper bounding it tight.

Hi FreyJo,

Thanks for your reply! I understand your suggestions, and I will try it .