The DOI matches its Crossref record; 14 of the 14 references it cites were found in a registry or an index.
An online active set strategy to overcome the limitations of explicit MPC
Abstract
Nearly all algorithms for linear model predictive control (MPC) either rely on the solution of convex quadratic programs (QPs) in real time, or on an explicit precalculation of this solution for all possible problem instances. In this paper, we present an online active set strategy for the fast solution of parametric QPs arising in MPC. This strategy exploits solution information of the previous QP under the assumption that the active set does not change much from one QP to the next. Furthermore, we present a modification where the CPU time is limited in order to make it suitable for strict real‐time applications. Its performance is demonstrated with a challenging test example comprising 240 variables and 1191 inequalities, which depends on 57 parameters and is prohibitive for explicit MPC approaches. In this example, our strategy allows CPU times of well below 100 ms per QP and was about one order of magnitude faster than a standard active set QP solver. Copyright © 2007 John Wiley & Sons, Ltd.
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Cites
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Kuindersma, S., Deits, R., Fallon, M., Valenzuela, A., Dai, H., Permenter, F., Koolen, T., Marion, P., & Tedrake, R. (2016) · Autonomous Robots · doi:10.1007/s10514-015-9479-3 · Cited by 835
Assistance or challenge? Filling a gap in user-cooperative control
Rauter, G., Sigrist, R., Marchal-Crespo, L., Vallery, H., Riener, R., & Wolf, P. (2011) · 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2011.6094832 · Cited by 24
Metadata
- Authors
- Ferreau, H. J., Bock, H. G., & Diehl, M.
- Venue
- International Journal of Robust and Nonlinear Control
- Publisher
- Wiley
- Published
- 2007-07-09
- Volume
- 18
- Issue
- 8
- Pages
- 816-830
- ISSN
- 1049-8923 (ISSN-L)
- 1099-1239
- OpenAlex
- W1983864916
- Cited by
- 608
- References
- 14
- FWCI
- 35.29
- Type
- journal article
- Language
- en
- Open access
- closed
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- Ferreau, H. J., Bock, H. G., & Diehl, M. (2008). An online active set strategy to overcome the limitations of explicit MPC. International Journal of Robust and Nonlinear Control. https://doi.org/10.1002/rnc.1251
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