eprintid: 2176
rev_number: 6
eprint_status: archive
userid: 6
dir: disk0/00/00/21/76
datestamp: 2014-03-05 14:12:53
lastmod: 2014-03-05 14:12:53
status_changed: 2014-03-05 14:12:53
type: book_section
metadata_visibility: show
creators_name: Rubagotti, Matteo
creators_name: Patrinos, Panagiotis
creators_name: Bemporad, Alberto
creators_id: 
creators_id: panagiotis.patrinos@imtlucca.it
creators_id: alberto.bemporad@imtlucca.it
title: Stabilizing embedded MPC with computational complexity guarantees
ispublished: pub
subjects: TJ
divisions: CSA
full_text_status: none
keywords: Closed loop systems, Optimal control, Optimization, Real-time systems, Stability analysis, Standards, Vectors
note: 2013 European Control Conference (ECC)
July 17-19, 2013, Zürich, Switzerland.
abstract: This paper describes a model predictive control (MPC) approach for discrete-time linear systems with hard constraints on control and state variables. The finite-horizon optimal control problem is formulated as a quadratic program (QP), and solved using a recently proposed dual fast gradient-projection method. More precisely, in a finite number of iterations of the mentioned optimization algorithm, a solution with bounded levels of infeasibility and suboptimality is determined for an alternative problem. This solution is shown to be a feasible suboptimal solution for the original problem, leading to exponential stability of the closed-loop system. The proposed strategy is particularly useful in embedded control applications, for which real-time constraints and limited computing resources can impose tight bounds on the possible number of iterations that can be performed within the scheduled sampling time.
date: 2013-07
date_type: published
publisher: IEEE
pagerange: 3065-3070
event_title: Control Conference (ECC), 2013 European
refereed: TRUE
isbn: 978-3-033-03962-9
book_title: Proceedings of European Control Conference 
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6669435&isnumber=6669080
citation:   Rubagotti, Matteo and Patrinos, Panagiotis and Bemporad, Alberto  Stabilizing embedded MPC with computational complexity guarantees.   In:  Proceedings of European Control Conference.   IEEE, pp. 3065-3070.  ISBN 978-3-033-03962-9      (2013)