A software framework for embedded nonlinear model predictive control using a gradient-based augmented Lagrangian approach (GRAMPC)

Boundary value problems for second-order elliptic equations (35J25) Elliptic equations and elliptic systems (35Jxx) Initial value problems for second-order parabolic equations (35K15) Parabolic equations and parabolic systems (35Kxx) Numerical mathematical programming methods (65K05) Numerical methods for mathematical programming, optimization and variational techniques (65Kxx) Finite element, Rayleigh-Ritz and Galerkin methods for initial value and initial-boundary value problems involving PDEs (65M60) Numerical methods for partial differential equations, initial value and time-dependent initial-boundary value problems (65Mxx) Finite element, Rayleigh-Ritz and Galerkin methods for boundary value problems involving PDEs (65N30) Numerical methods for partial differential equations, boundary value problems (65Nxx)

arXiv classification

math.OC

Abstract: A nonlinear MPC framework is presented that is suitable for dynamical systems with sampling times in the (sub)millisecond range and that allows for an efficient implementation on embedded hardware. The algorithm is based on an augmented Lagrangian formulation with a tailored gradient method for the inner minimization problem. The algorithm is implemented in the software framework GRAMPC and is a fundamental revision of an earlier version. Detailed performance results are presented for a test set of benchmark problems and in comparison to other nonlinear MPC packages. In addition, runtime results and memory requirements for GRAMPC on ECU level demonstrate its applicability on embedded hardware.

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