TR2018-122

Projected Preconditioning within a Block-Sparse Active-Set Method for MPC

    •  Quirynen, R., Knyazev, A., Di Cairano, S., "Projected Preconditioning within a Block-Sparse Active-Set Method for MPC", IFAC Conference on Nonlinear Model Predictive Control (NMPC), DOI: 10.1016/​j.ifacol.2018.10.170, August 2018, vol. 51, pp. 28-34.
      BibTeX TR2018-122 PDF
      • @inproceedings{Quirynen2018aug2,
      • author = {Quirynen, Rien and Knyazev, Andrew and {Di Cairano}, Stefano},
      • title = {{Projected Preconditioning within a Block-Sparse Active-Set Method for MPC}},
      • booktitle = {IFAC Conference on Nonlinear Model Predictive Control (NMPC)},
      • year = 2018,
      • volume = 51,
      • number = 20,
      • pages = {28--34},
      • month = aug,
      • publisher = {Elsevier},
      • doi = {10.1016/j.ifacol.2018.10.170},
      • url = {https://www.merl.com/publications/TR2018-122}
      • }
  • MERL Contact:
  • Research Areas:

    Control, Dynamical Systems, Optimization

Abstract:

Model predictive control (MPC) often requires solving an optimal control structuredquadratic 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 activeset 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.

 

  • Related News & Events

    •  NEWS    MERL researcher Stefano Di Cairano taught short course for European Embedded Control Institute
      Date: June 10, 2019 - June 14, 2019
      Where: Paris
      MERL Contact: Stefano Di Cairano
      Research Areas: Control, Dynamical Systems, Optimization
      Brief
      • MERL researcher Stefano Di Cairano and Prof. Ilya Kolmanovsky, Dept. Aerospace Engineering, the University of Michigan, were invited to teach a class on "Predictive and Optimization Based Control for Automotive and Aerospace Application" at the 2019 International Graduate School in Control, of the European Embedded Control Institute (EECI). Every year EECI invites world renown experts to teach 21-hours class modules, mostly for PhD students but also for professionals, on selected control subjects. Stefano and Ilya's class was attended by 30 "students" from both academia and industry, from all around the world, interested in automotive and aerospace control. The module described the fundamentals of modeling and control design in automotive and aerospace through lectures, real world examples and exercises, and placed particular emphasis on techniques such as MPC, reference governors, and optimal control.
    •  
    •  NEWS    IEEE Control Systems Magazine interviews Stefano Di Cairano
      Date: April 15, 2019
      MERL Contact: Stefano Di Cairano
      Research Area: Control
      Brief
      • Stefano Di Cairano, senior team leader and distinguished research scientist in the Control and Dynamical Systems group, was interviewed in the April 2019 issue of IEEE Control Systems Magazine. Stefano described himself, promising opportunities in the control field, and how his passion for control research fits well into the industrial research laboratory setting at MERL. It is very good reading for any young researcher considering possible career trajectories.
    •  
    •  NEWS    MERL Control and Dynamical Systems Group presented 8 papers at IFAC NMPC conference
      Date: August 19, 2018 - August 22, 2018
      Where: IFAC NMPC, Madison, WI
      MERL Contact: Stefano Di Cairano
      Research Area: Control
      Brief
      • The 6th IFAC Conference on Nonlinear Model Predictive Control (NMPC), http://www.nmpc2018.org/, is a highly focused conference that attracts experts in this area from around the world. Members of the Control and Dynamical Systems group presented 8 papers (out of the 149 at the conference!) Stefano Di Cairano delivered one of the 7 plenary lectures entitled "Contract-Based Design of Control Architectures by Model Predictive Control.".
    •