文章基本信息

标题：Projected Preconditioning within a Block-Sparse Active-Set Method for MPC
本地全文：下载
作者：Rien Quirynen ; Andrew Knyazev ; Stefano Di Cairano 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：20
页码：28-34
DOI：10.1016/j.ifacol.2018.10.170
语种：English
出版社：Elsevier
摘要：AbstractModel predictive control (MPC) often requires solving an optimal control structured quadratic program (QP), possibly based on an online linearization at each sampling instant. Block-tridiagonal preconditioners have been proposed, combined with the minimal residual (MINRES) method, to result in a simple but efficient implementation of a sparse active-set strategy for fast MPC. This paper presents an improved variant of this PRESAS algorithm, by using a projected preconditioned conjugate gradient (PPCG) method. Based on a standalone C code implementation and using an ARM Cortex-A7 processor, we illustrate the performance of the proposed solver against the current state of the art for embedded predictive control.
关键词：KeywordsPredictive controlQuadratic programmingNumerical algorithms