Journal ArticleDOI
An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range
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TLDR
An automatic C-code generation strategy for real-time nonlinear model predictive control (NMPC) is presented, which is designed for applications with kilohertz sample rates and shows a promising performance being able to provide feedback in much less than a millisecond.About:
This article is published in Automatica.The article was published on 2011-10-01. It has received 414 citations till now. The article focuses on the topics: Model predictive control & Optimal control.read more
Citations
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Journal ArticleDOI
Motion planning with sequential convex optimization and convex collision checking
John Schulman,Yan Duan,Jonathan Ho,Alex X. Lee,Ibrahim Awwal,Henry Bradlow,Jia Pan,Sachin Patil,Ken Goldberg,Pieter Abbeel +9 more
TL;DR: A sequential convex optimization procedure, which penalizes collisions with a hinge loss and increases the penalty coefficients in an outer loop as necessary, and an efficient formulation of the no-collisions constraint that directly considers continuous-time safety are presented.
Book ChapterDOI
CasADi -- A symbolic package for automatic differentiation and optimal control
TL;DR: The AD framework of CasADi is presented and compared against AMPL for a set of nonlinear programming problems from the CUTEr test suite and the tool is compared against full-featured front-ends to Python and Octave for rapid prototyping.
A General-Purpose Software Framework for Dynamic Optimization (Een algemene softwareomgeving voor dynamische optimalisatie)
TL;DR: CasADi is presented, an open-source software framework for numerical optimization and algorithmic differentiation that offers a level of abstraction which is lower than algebraic modeling languages, but higher than conventional AD tools.
A General-Purpose Software Framework for Dynamic Optimization
TL;DR: CasADi as mentioned in this paper is an open-source software framework for numerical optimization and algorithmic differentiation that offers a level of abstraction which is lower than algebraic modeling languages, but higher than conventional AD tools.
Journal ArticleDOI
From linear to nonlinear MPC: bridging the gap via the real-time iteration
TL;DR: This paper focuses on NMPC based on the real-time iteration (RTI) scheme, as this technique has been successfully tested and, in some applications, requires computational times that are only marginally larger than linear MPC.
References
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Book
Convex Optimization
Stephen Boyd,Lieven Vandenberghe +1 more
TL;DR: In this article, the focus is on recognizing convex optimization problems and then finding the most appropriate technique for solving them, and a comprehensive introduction to the subject is given. But the focus of this book is not on the optimization problem itself, but on the problem of finding the appropriate technique to solve it.
Journal ArticleDOI
Model predictive control: theory and practice—a survey
TL;DR: The flexible constraint handling capabilities of MPC are shown to be a significant advantage in the context of the overall operating objectives of the process industries and the 1-, 2-, and ∞-norm formulations of the performance objective are discussed.
Book
Trust Region Methods
TL;DR: This chapter discusses Trust-Region Mewthods for General Constained Optimization and Systems of Nonlinear Equations and Nonlinear Fitting, and some of the methods used in this chapter dealt with these systems.
Journal ArticleDOI
ACADO toolkit—An open-source framework for automatic control and dynamic optimization
TL;DR: The user‐friendly syntax of the ACADO Toolkit to set up optimization problems is illustrated with two tutorial examples: an optimal control and a parameter estimation problem.
Journal ArticleDOI
A continuation/GMRES method for fast computation of nonlinear receding horizon control
TL;DR: The proposed algorithm for nonlinear receding horizon control is applied to a two-link arm whose dynamics is highly nonlinear and is shown to be bounded under some conditions.
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