An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range

DOI10.1016/J.AUTOMATICA.2011.08.020zbMath1227.65054OpenAlexW2044494131MaRDI QIDQ642642

Hans Joachim Ferreau, Boris Houska, Moritz Diehl

Publication date: 27 October 2011

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2011.08.020

zbMATH Keywords

optimal controlfeedbackGauss-Newton methodnonlinear model predictive controlautomatic C-code generationreal-time algorithmssoftware package ACADO Toolkit

Mathematics Subject Classification ID

Symbolic computation and algebraic computation (68W30) Numerical optimization and variational techniques (65K10) Feedback control (93B52) Nonlinear systems in control theory (93C10)

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Uses Software

• ACADO
• qpOASES
• CVXGEN

Cites Work

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• The advanced-step NMPC controller: Optimality, stability and robustness
• A continuation/GMRES method for fast computation of nonlinear receding horizon control
• ACADO toolkit-An open-source framework for automatic control and dynamic optimization
• Efficient Numerical Methods for Nonlinear MPC and Moving Horizon Estimation
• Trust Region Methods
• Nonlinear receding horizon control of an underactuated hovercraft
• A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control
• An online active set strategy to overcome the limitations of explicit MPC

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