TR2018-122
Projected Preconditioning within a Block-Sparse Active-Set Method for MPC
-
- , "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 Download 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,
- doi = {10.1016/j.ifacol.2018.10.170},
- url = {https://www.merl.com/publications/TR2018-122}
- }
- , "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.
-
MERL Contacts:
-
Research Areas:
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.