Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

Towards real-time ADMM for linear MPC

Darup, Moritz Schulze ; Book, Gerrit and Giselsson, Pontus LU orcid (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:
author
; and
organization
publishing date
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}},
}