relation: http://eprints.imtlucca.it/4014/
title: A compression algorithm for real-time distributed nonlinear MPC
creator: Quirynen, Rien
creator: Zanon, Mario
creator: Kozma, Attila
creator: Diehl, Moritz
subject: T Technology (General)
description: 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.
publisher: IEEE
date: 2015
type: Conference or Workshop Item
type: PeerReviewed
identifier:   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)  
relation: http://doi.org/10.1109/ECC.2015.7331063
relation: doi:10.1109/ECC.2015.7331063