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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Bibliographic Details
Published in:	IEEE transactions on control systems technology Vol. 32; no. 6; pp. 2376 - 2384
Main Authors:	Krupa, Pablo, Jaouani, Rim, Limon, Daniel, Alamo, Teodoro
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.11.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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
Online Access:	Get full text
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