Shifting strategy for efficient block-based non-linear model predictive control using real-time iterations

DOI10.1049/IET-CTA.2019.0369MaRDI QIDQ6598848zbMATH OpenFDO

Authors Oscar Julian Gonzalez Villarreal, Anthony Rossiter

Publication date 5 September 2024

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1049/IET-CTA.2019.0369

zbMATH Keywords

Beaglebone Blue Linux-based computerefficient block-based nonlinear modelefficient strategiesinverted pendulumiterative methodsLinuxnonlinear control systemsnonlinear model predictive controloptimisationpredictive controlreal-time iterationsreal-time systemsrecursive feasibility problemrecursive feasibility propertiesrobotic systemssampling timeshifting strategystabilitystability properties

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)

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Cites work

• \texttt{ACADO toolkit} -- an open-source framework for automatic control and dynamic optimization
• A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control
• An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range
• An online active set strategy to overcome the limitations of explicit MPC
• Autogenerating microsecond solvers for nonlinear MPC: a tutorial using ACADO integrators
• Efficient algorithms for trading off feasibility and performance in predictive control
• Model Predictive Control for Switching Systems With Dwell-Time Restriction
• Model predictive control system design and implementation using \texttt{MATLAB}
• Multiple shooting in a microsecond
• Optimal move blocking strategies for model predictive control
• qpOASES: a parametric active-set algorithm for~quadratic programming
• Swing-up control of a triple pendulum on a cart with experimental validation

Cited in

(1)

• Efficient move blocking strategy for multiple shooting-based non-linear model predictive control

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