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 polynomialsnonlinear model predictive controloptimal controlpseudospectral collocation

Mathematics Subject Classification ID

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

Recommendations

• CasADi: a software framework for nonlinear optimization and optimal control
• ParNMPC -- a parallel optimisation toolkit for real-time nonlinear model predictive control
• \texttt{ACADO toolkit} -- an open-source framework for automatic control and dynamic optimization
• An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range
• Direct optimal control and model predictive control

Cited in

(5)

• \texttt{acados} -- a modular open-source framework for fast embedded optimal control
• PolyMPC
• Stochastic optimal control for autonomous driving applications via polynomial chaos expansions
• An improved MPSP-based path-following control method for USV with input disturbances
• Fast and lightweight: a real-time parallelizable MPC for embedded systems

Describes a project that uses

Uses Software

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

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

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5000779)