How to run an economic MPC in a shrinking horizon manner

MPC Discussions
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1

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?

2

Hi,

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.

3

Hi FreyJo,

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

Zhuang