ParNMPC -- a parallel optimisation toolkit for real-time nonlinear model predictive control

DOI10.1080/00207179.2020.1798019zbMATH Open1482.93169OpenAlexW3043037334MaRDI QIDQ5027366FDOQ5027366

Authors Haoyang Deng, T. Ohtsuka 

Publication date 4 February 2022

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2020.1798019

zbMATH Keywords

parallel computingnonlinear model predictive controlreal-time optimisation

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems involving computers (process control, etc.) (93C83) Model predictive control (93B45) Computational methods for problems pertaining to systems and control theory (93-08)

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• Multiple shooting in a microsecond

Cites work

• scientific article; zbMATH DE number 3816970 (Why is no real title available?)
• scientific article; zbMATH DE number 5060482 (Why is no real title available?)
• A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control
• A continuation/GMRES method for fast computation of nonlinear receding horizon control
• A globally convergent primal-dual interior point method for constrained optimization
• A parallel Newton-type method for nonlinear model predictive control
• A parallel quadratic programming method for dynamic optimization problems
• A projected gradient and constraint linearization method for nonlinear model predictive control
• A software framework for embedded nonlinear model predictive control using a gradient-based augmented Lagrangian approach (GRAMPC)
• An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range
• Direct Parallel Computations of Second-Order Search Directions for Model Predictive Control
• Direct and indirect methods for trajectory optimization
• Efficient numerical methods for nonlinear MPC and moving horizon estimation
• Embedded Online Optimization for Model Predictive Control at Megahertz Rates
• FORCES NLP: an efficient implementation of interior-point methods for multistage nonlinear nonconvex programs
• GMRES: A Generalized Minimal Residual Algorithm for Solving Nonsymmetric Linear Systems
• Line Search Filter Methods for Nonlinear Programming: Motivation and Global Convergence
• MATMPC
• Mean Value Theorems for Vector Valued Functions
• Nonlinear programming without a penalty function.
• Numerical simulation methods for embedded optimization
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• Pinocchio
• qpOASES: a parametric active-set algorithm for~quadratic programming

Cited in

(7)

• PolyMPC: an efficient and extensible tool for real-time nonlinear model predictive tracking and path following for fast mechatronic systems
• Fast nonlinear model predictive controller using parallel PSO based on divide and conquer approach
• FORCES NLP: an efficient implementation of interior-point methods for multistage nonlinear nonconvex programs
• A parallel Newton-type method for nonlinear model predictive control
• Towards parallel implementation of hybrid MPC -- a survey and directions for future research
• ParNMPC
• AROC

Describes a project that uses

Uses Software

• Ipopt
• qpOASES
• qpDUNES
• fast_mpc
• GRAMPC
• VIATOC
• Pinocchio
• FORCES NLP
• MATMPC

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