TY  - CONF
UR  - http://doi.org/10.1109/ECC.2015.7331063
Y1  - 2015///
TI  - A compression algorithm for real-time distributed nonlinear MPC
AV  - none
N2  - 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.
SP  - 3422
SN  - 978-3-9524-2693-7
PB  - IEEE
M2  - Linz, Austria
A1  - Quirynen, Rien
A1  - Zanon, Mario
A1  - Kozma, Attila
A1  - Diehl, Moritz
EP  - 3427
T2  - European Control Conference
ID  - eprints4014
ER  -