An efficient bounded-variable nonlinear least-squares algorithm for embedded MPC

DOI10.1016/j.automatica.2022.110293zbMath1491.93036arXiv1908.07247OpenAlexW3137936630MaRDI QIDQ2139405

Nilay Saraf, Alberto Bemporad

Publication date: 17 May 2022

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1908.07247

zbMATH Keywords

adaptive controlnonlinear programmingmodel predictive controlactive-set methodsnonlinear parameter-varying controlrecursive QR factorization

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Model predictive control (93B45)

Uses Software

• STRSCNE
• Ipopt
• CasADi
• CSparse
• Ceres Solver
• fast_mpc

Cites Work

• Introductory lectures on convex optimization. A basic course.
• A continuation/GMRES method for fast computation of nonlinear receding horizon control
• Recent advances in quadratic programming algorithms for nonlinear model predictive control
• CasADi: a software framework for nonlinear optimization and optimal control
• An affine scaling trust-region approach to bound-constrained nonlinear systems
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• Matrix-Free Convex Optimization Modeling
• Predictive Control for Linear and Hybrid Systems
• Embedded Online Optimization for Model Predictive Control at Megahertz Rates
• Direct Methods for Sparse Linear Systems
• Reorthogonalization and Stable Algorithms for Updating the Gram-Schmidt QR Factorization
• A Bounded-Variable Least-Squares Solver Based on Stable QR Updates
• A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control
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