A Sparse ADMM-Based Solver for Linear MPC Subject to Terminal Quadratic Constraint

Model predictive control (MPC) typically includes a terminal constraint to guarantee stability of the closed-loop system under nominal conditions. In linear MPC, this constraint is generally taken on a polyhedral set, leading to a quadratic optimization problem. However, the use of an ellipsoidal te...

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Vydáno v:	IEEE transactions on control systems technology Ročník 32; číslo 6; s. 2376 - 2384
Hlavní autoři:	Krupa, Pablo, Jaouani, Rim, Limon, Daniel, Alamo, Teodoro
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York IEEE 01.11.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Algorithms Artificial intelligence Closed loops Complexity theory Convex functions Ellipsoids Embedded optimization Embedded systems Feedback control model predictive control (MPC) Optimization Predictive control Programming quadratic constraints second-order cone (SOC) programming Slack variables Solvers Terminal constraints Vectors
ISSN:	1063-6536, 1558-0865
On-line přístup:	Získat plný text
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