A software framework for embedded nonlinear model predictive control using a gradient-based augmented Lagrangian approach (GRAMPC)
DOI10.1007/s11081-018-9417-2OpenAlexW2964209997WikidataQ128535386 ScholiaQ128535386MaRDI QIDQ2331376
Felix Mesmer, Andreas Völz, Knut Graichen, Sönke Rhein, Tobias Englert
Publication date: 29 October 2019
Published in: Optimization and Engineering (Search for Journal in Brave)
Full work available at URL: https://arxiv.org/abs/1805.01633
gradient methodaugmented Lagrangian methodnonlinear model predictive controlembedded optimizationmoving horizon estimationreal-time implementation
Numerical mathematical programming methods (65K05) Boundary value problems for second-order elliptic equations (35J25) Finite element, Rayleigh-Ritz and Galerkin methods for boundary value problems involving PDEs (65N30) Finite element, Rayleigh-Ritz and Galerkin methods for initial value and initial-boundary value problems involving PDEs (65M60) Initial value problems for second-order parabolic equations (35K15) Numerical methods for partial differential equations, initial value and time-dependent initial-boundary value problems (65Mxx) Numerical methods for partial differential equations, boundary value problems (65Nxx) Parabolic equations and parabolic systems (35Kxx) Elliptic equations and elliptic systems (35Jxx) Numerical methods for mathematical programming, optimization and variational techniques (65Kxx)
Related Items
Uses Software
Cites Work
- Unnamed Item
- Unnamed Item
- Unnamed Item
- Unnamed Item
- Unnamed Item
- Unnamed Item
- Unnamed Item
- Unnamed Item
- Economic receding horizon control without terminal constraints
- A fixed-point iteration scheme for real-time model predictive control
- qpOASES: a parametric active-set algorithm for~quadratic programming
- Flatness based control of a nonlinear chemical reactor model
- Computational complexity certification for dual gradient method: application to embedded MPC
- The augmented Lagrangian method for equality and inequality constraints in Hilbert spaces
- Optimal control theory
- A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability
- Use of augmented Lagrangian methods for the optimal control of obstacle problems
- A continuation/GMRES method for fast computation of nonlinear receding horizon control
- Constrained model predictive control: Stability and optimality
- ACADO toolkit-An open-source framework for automatic control and dynamic optimization
- Shrinking-horizon dynamic programming
- Nonlinear model predictive control based on constraint transformation
- Two-Point Step Size Gradient Methods
- Adjoint Sensitivity Analysis for Differential-Algebraic Equations: The Adjoint DAE System and Its Numerical Solution
- Suboptimal model predictive control (feasibility implies stability)
- On ${\text{L}}^2 $ Sufficient Conditions and the Gradient Projection Method for Optimal Control Problems
- Stability and Incremental Improvement of Suboptimal MPC Without Terminal Constraints
- Computational Complexity of Inexact Gradient Augmented Lagrangian Methods: Application to Constrained MPC
- Model predictive control based on linear programming - the explicit solution
- On the stability of constrained MPC without terminal constraint
- A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control
- Computational Complexity Certification for Real-Time MPC With Input Constraints Based on the Fast Gradient Method
- An online active set strategy to overcome the limitations of explicit MPC
- Augmented Lagrange Multiplier Functions and Duality in Nonconvex Programming
- Field programmable gate array based predictive control system for spacecraft rendezvous in elliptical orbits
- Multiplier Methods for Nonlinear Optimal Control
- The explicit linear quadratic regulator for constrained systems
