Towards real-time ADMM for linear MPC
(2019) 18th European Control Conference, ECC 2019 p.4276-4282- Abstract
We present a novel predictive control scheme for linear constrained systems that uses the alternating direction method of multipliers (ADMM) for online optimization. In contrast to existing works on ADMM-based model predictive control (MPC), we only consider a single ADMM-iteration in every time step. The resulting real-time ADMM scheme is tailored for embedded and fast MPC implementations. The main difference to existing MPC schemes based on real-time iterations is that the proposed controller allows to include state and input constraints of the system. The paper derives the dynamics of the resulting closed-loop system, identifies important parameters of the real-time ADMM, and compares its performance to classical MPC.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/33970fb7-5015-43d4-927d-ed7977b50900
- author
- Darup, Moritz Schulze ; Book, Gerrit and Giselsson, Pontus LU
- organization
- publishing date
- 2019
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2019 18th European Control Conference, ECC 2019
- article number
- 8796239
- pages
- 7 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 18th European Control Conference, ECC 2019
- conference location
- Naples, Italy
- conference dates
- 2019-06-25 - 2019-06-28
- external identifiers
-
- scopus:85071566616
- ISBN
- 9783907144008
- DOI
- 10.23919/ECC.2019.8796239
- language
- English
- LU publication?
- yes
- id
- 33970fb7-5015-43d4-927d-ed7977b50900
- date added to LUP
- 2019-09-23 09:00:42
- date last changed
- 2023-10-07 16:12:20
@inproceedings{33970fb7-5015-43d4-927d-ed7977b50900, abstract = {{<p>We present a novel predictive control scheme for linear constrained systems that uses the alternating direction method of multipliers (ADMM) for online optimization. In contrast to existing works on ADMM-based model predictive control (MPC), we only consider a single ADMM-iteration in every time step. The resulting real-time ADMM scheme is tailored for embedded and fast MPC implementations. The main difference to existing MPC schemes based on real-time iterations is that the proposed controller allows to include state and input constraints of the system. The paper derives the dynamics of the resulting closed-loop system, identifies important parameters of the real-time ADMM, and compares its performance to classical MPC.</p>}}, author = {{Darup, Moritz Schulze and Book, Gerrit and Giselsson, Pontus}}, booktitle = {{2019 18th European Control Conference, ECC 2019}}, isbn = {{9783907144008}}, language = {{eng}}, pages = {{4276--4282}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Towards real-time ADMM for linear MPC}}, url = {{http://dx.doi.org/10.23919/ECC.2019.8796239}}, doi = {{10.23919/ECC.2019.8796239}}, year = {{2019}}, }