Analysis of the incompleteness of the priority ascent strategy of feasibility judgment and soft constraint adjustment

The priority ascent strategy of feasibility judgment and soft constraint adjustment has been playing a significant role in two-layer model predictive control for decades of years. Nevertheless, our latest researches indicate the present priority ascent strategy is incomplete in some extent, which could have been repaired through some technical adjustment. Therefore, an augmented method is proposed to fundamentally settle the problem in the paper. Firstly, a special case is presented to verify the incompleteness of the present strategy. Secondly, some existing methods which can partly solve the problem are carried out and discussed. Then, an augmented priority ascent strategy which considers all hard constraints in advance is proposed to solve the incompleteness of the present strategy. Furthermore, a brief proof is given to demonstrate the completeness of the proposed approach. Finally, some simulations are discussed to indicate its feasibility and effectiveness.