PolyMPC: an efficient and extensible tool for real-time nonlinear model predictive tracking and path following for fast mechatronic systems

DOI10.1002/OCA.2566MaRDI QIDQ5000779zbMATH OpenOpenAlexFDO

Authors Petr Listov, Colin N. Jones

Publication date 15 July 2021

Published in Optimal Control Applications \& Methods (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/oca.2566

zbMATH Keywords

Chebyshev polynomialsoptimal controlnonlinear model predictive controlpseudospectral collocation

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Model predictive control (93B45) Computational methods for problems pertaining to systems and control theory (93-08)

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Cited in

(3)

• \texttt{acados} -- a modular open-source framework for fast embedded optimal control
• Stochastic optimal control for autonomous driving applications via polynomial chaos expansions
• PolyMPC

Describes a project that uses

Uses Software

• ROS
• CasADi
• GPOPS
• qpOASES
• CppAD
• DIRCOL
• SNOPT
• Matlab

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