Quirynen, Rien and Zanon, Mario and Kozma, Attila and Diehl, Moritz A compression algorithm for real-time distributed nonlinear MPC. In: European Control Conference, July 15-17, 2015, Linz, Austria pp. 3422-3427. ISBN 978-3-9524-2693-7. (2015)
Full text not available from this repository.Abstract
Model Predictive Control (MPC) requires the online solution of an Optimal Control Problem (OCP) at each sampling time. Efficient online algorithms such as the Real-Time Iteration (RTI) scheme have been developed for real-time MPC implementations even for fast nonlinear dynamic systems. The RTI framework is based on direct Multiple Shooting (MS) for centralized systems. Distributed Multiple Shooting (DMS) is an MS-based OCP discretization strategy for distributed systems. Many fast dynamic systems can be described as connected subsystems and in order to exploit this structure, a DMS based RTI scheme has been developed and implemented in ACADO code generation. A novel technique called compression is proposed to reduce the dimensions of the convex subproblem, while exploiting the coupling structure. The performance of the presented scheme is illustrated on a nontrivial example from the literature, where a speedup of factor 11 in simulation time and factor 6 in the total computation time can be shown over the classical RTI scheme.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Identification Number: | https://doi.org/10.1109/ECC.2015.7331063 |
| Subjects: | T Technology > T Technology (General) |
| Research Area: | Computer Science and Applications |
| Depositing User: | Mario Zanon |
| Date Deposited: | 12 Mar 2018 09:25 |
| Last Modified: | 12 Mar 2018 09:25 |
| URI: | http://eprints.imtlucca.it/id/eprint/4014 |
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