An online active set strategy to overcome the limitations of explicit MPC

DOI10.1002/rnc.1251zbMath1284.93100OpenAlexW1983864916MaRDI QIDQ5405758

Hans Georg Bock, Moritz Diehl, Hans Joachim Ferreau

Publication date: 3 April 2014

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.1251

zbMATH Keywords

model predictive controlparametric quadratic programmingonline active set strategy

Mathematics Subject Classification ID

Related Items (58)

A primal‐dual active‐set method for distributed model predictive control ⋮ Recent advances in quadratic programming algorithms for nonlinear model predictive control ⋮ Local Decay of Residuals in Dual Gradient Method with Soft State Constraints ⋮ Primal and dual active-set methods for convex quadratic programming ⋮ Nonlinear model predictive control based on constraint transformation ⋮ A Projected Gradient and Constraint Linearization Method for Nonlinear Model Predictive Control ⋮ Fast model predictive control combining offline method and online optimization with K-D tree ⋮ Incremental optimal process excitation for online system identification based on evolving local model networks ⋮ Theoretical and algorithmic advances in multi-parametric programming and control ⋮ A stabilizing iteration scheme for model predictive control based on relaxed barrier functions ⋮ Robust explicit model predictive control via regular piecewise-affine approximation ⋮ Nonlinear disturbance observer-based adaptive nonlinear model predictive control design for a class of nonlinear MIMO system ⋮ A factorization with update procedures for a KKT matrix arising in direct optimal control ⋮ Benchmarking large-scale distributed convex quadratic programming algorithms ⋮ Semi-explicit MPC based on subspace clustering ⋮ PAL-Hom method for QP and an application to LP ⋮ Adaptive model predictive control design using multiple model second level adaptation for parameter estimation of two‐degree freedom of helicopter model ⋮ A combined first‐ and second‐order approach for model predictive control ⋮ Online constraint removal: accelerating MPC with a Lyapunov function ⋮ Online Mixed-Integer Optimization in Milliseconds ⋮ Quadratic programming with ramp functions and fast online QP-MPC solutions ⋮ EKF enhanced MPC for rapid attitude stabilization of space robots with bounded control torque in postcapture ⋮ Efficiency-aware nonlinear model-predictive control with real-time iteration scheme for wave energy converters ⋮ An SR1/BFGS SQP algorithm for nonconvex nonlinear programs with block-diagonal Hessian matrix ⋮ Data‐driven predictive control for a class of uncertain control‐affine systems ⋮ Embedded MPC Controller Based on Interior-Point Method with Convergence Depth Control ⋮ Optimal move blocking strategies for model predictive control ⋮ Metric selection in fast dual forward-backward splitting ⋮ Distributed MPC based on robustly controllable sets for PWA systems ⋮ An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range ⋮ Towards online model predictive control on a programmable logic controller: practical considerations ⋮ A global piecewise smooth Newton method for fast large-scale model predictive control ⋮ On real-time robust model predictive control ⋮ An active set solver for input-constrained robust receding horizon control ⋮ LMI-based model predictive control for a class of constrained uncertain fuzzy Markov jump systems ⋮ qpOASES: a parametric active-set algorithm for~quadratic programming ⋮ Complexity and convergence certification of a block principal pivoting method for box-constrained quadratic programs ⋮ A parallel quadratic programming method for dynamic optimization problems ⋮ Approximation of Model Predictive Control Laws for Polynomial Systems ⋮ Accelerating linear model predictive control by constraint removal ⋮ Dominant speed factors of active set methods for fast MPC ⋮ Automatically generated embedded model predictive control: Moving an industrial PC‐based MPC to an embedded platform ⋮ On the computation of linear model predictive control laws ⋮ Efficient multivariable generalized predictive control for autonomous underwater vehicle in vertical plane ⋮ Multiple Shooting in a Microsecond ⋮ An Augmented Lagrangian Based Algorithm for Distributed NonConvex Optimization ⋮ Large scale model predictive control with neural networks and primal active sets ⋮ Performance bounds and suboptimal policies for linear stochastic control via LMIs ⋮ Active set solver for min-max robust control with state and input constraints ⋮ Globally Convergent Primal-Dual Active-Set Methods with Inexact Subproblem Solves ⋮ Soft inequality constraints in gradient method and fast gradient method for quadratic programming ⋮ A software framework for embedded nonlinear model predictive control using a gradient-based augmented Lagrangian approach (GRAMPC) ⋮ An integrated perturbation analysis and sequential quadratic programming approach for model predictive control ⋮ Terminal spacecraft rendezvous and capture with LASSO model predictive control ⋮ An Active-Set Method for Quadratic Programming Based On Sequential Hot-Starts ⋮ Projection-free parallel quadratic programming for linear model predictive control ⋮ A reduced proximal-point homotopy method for large-scale non-convex BQP ⋮ Methods for convex and general quadratic programming

Uses Software

• nag

Cites Work

• Unnamed Item

This page was built for publication: An online active set strategy to overcome the limitations of explicit MPC