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

DOI10.1002/OCA.2566zbMATH Open1467.93094OpenAlexW3000452236MaRDI QIDQ5000779FDOQ5000779

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

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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)

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

Uses Software

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

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