A software framework for embedded nonlinear model predictive control using a gradient-based augmented Lagrangian approach (GRAMPC)
DOI10.1007/S11081-018-9417-2OpenAlexW2964209997WikidataQ128535386 ScholiaQ128535386MaRDI QIDQ2331376FDOQ2331376
Authors: Tobias Englert, Andreas Völz, Felix Mesmer, Sönke Rhein, Knut Graichen 
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 methodembedded optimizationnonlinear model predictive controlmoving horizon estimationreal-time implementation
Numerical mathematical programming methods (65K05) Boundary value problems for second-order elliptic equations (35J25) Initial value problems for second-order parabolic equations (35K15) Finite element, Rayleigh-Ritz and Galerkin methods for initial value and initial-boundary value problems involving PDEs (65M60) Finite element, Rayleigh-Ritz and Galerkin methods for boundary value problems involving PDEs (65N30) Numerical methods for partial differential equations, boundary value problems (65Nxx) Elliptic equations and elliptic systems (35Jxx) Parabolic equations and parabolic systems (35Kxx) Numerical methods for partial differential equations, initial value and time-dependent initial-boundary value problems (65Mxx) Numerical methods for mathematical programming, optimization and variational techniques (65Kxx)
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Cited In (11)
- \texttt{acados} -- a modular open-source framework for fast embedded optimal control
- Asynchronous ADMM for nonlinear continuous-time systems
- A software framework for embedded nonlinear model predictive control using a gradient-based augmented Lagrangian approach (GRAMPC)
- A fast dissipative robust nonlinear model predictive control procedure via quasi‐linear parameter varying embedding and parameter extrapolation
- A modular framework for distributed model predictive control of nonlinear continuous-time systems (GRAMPC-D)
- A double-layer Jacobi method for partial differential equation-constrained nonlinear model predictive control
- GRAMPC
- Constrained online trajectory planning for nonlinear flat SISO systems using a switched state variable filter
- Symplectic discrete-time energy-based control for nonlinear mechanical systems
- Association of a fractional order controller with an optimal model-based approach for a robust, safe and high performing control of nonlinear systems
- ParNMPC -- a parallel optimisation toolkit for real-time nonlinear model predictive control
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