eprintid: 4014
rev_number: 7
eprint_status: archive
userid: 87
dir: disk0/00/00/40/14
datestamp: 2018-03-12 09:25:10
lastmod: 2018-03-12 09:25:10
status_changed: 2018-03-12 09:25:10
type: conference_item
metadata_visibility: show
creators_name: Quirynen, Rien
creators_name: Zanon, Mario
creators_name: Kozma, Attila
creators_name: Diehl, Moritz
creators_id: 
creators_id: mario.zanon@imtlucca.it
creators_id: 
creators_id: 
title: A compression algorithm for real-time distributed nonlinear MPC
ispublished: pub
subjects: T1
divisions: CSA
full_text_status: none
pres_type: paper
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.
date: 2015
date_type: published
publisher: IEEE
pagerange: 3422-3427
event_title: European Control Conference
event_location: Linz, Austria
event_dates: July 15-17, 2015
event_type: conference
id_number: doi:10.1109/ECC.2015.7331063
refereed: TRUE
isbn: 978-3-9524-2693-7
book_title: European Control Conference (ECC), 2015
official_url: http://doi.org/10.1109/ECC.2015.7331063
citation:   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)