An efficient bounded-variable nonlinear least-squares algorithm for embedded MPC
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Publication:2139405
DOI10.1016/J.AUTOMATICA.2022.110293zbMATH Open1491.93036arXiv1908.07247OpenAlexW3137936630MaRDI QIDQ2139405FDOQ2139405
Authors: Nilay Saraf, A. Bemporad 
Publication date: 17 May 2022
Published in: Automatica (Search for Journal in Brave)
Abstract: This paper presents a new approach to solve linear and nonlinear model predictive control (MPC) problems that requires small memory footprint and throughput and is particularly suitable when the model and/or controller parameters change at runtime. Typically MPC requires two phases: 1) construct an optimization problem based on the given MPC parameters (prediction model, tuning weights, prediction horizon, and constraints), which results in a quadratic or nonlinear programming problem, and then 2) call an optimization algorithm to solve the resulting problem. In the proposed approach the problem construction step is systematically eliminated, as in the optimization algorithm problem matrices are expressed in terms of abstract functions of the MPC parameters. We present a unifying algorithmic framework based on active-set methods with bounded variables that can cope with linear, nonlinear, and adaptive MPC variants based on a broad class of prediction models and a sum-of-squares cost function. The theoretical and numerical results demonstrate the potential, applicability, and efficiency of the proposed framework for practical real-time embedded MPC.
Full work available at URL: https://arxiv.org/abs/1908.07247
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nonlinear programmingadaptive controlmodel predictive controlactive-set methodsnonlinear parameter-varying controlrecursive QR factorization
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