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A compression algorithm for real-time distributed nonlinear MPC

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)

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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: 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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