A Study on Optimization Algorithms in MPC

Yuki Nakagaki, Guisheng Zhai

Research output: Contribution to journalConference article

Abstract

We consider the implementation problem of Model Predictive Control (MPC) especially for linear control systems. In the real time computation of MPC, we need to choose an optimization method to solve at each sampling periods. For this purpose, we suggest a new combination of the existing numerical calculation methods to speed up the computer calculation. More precisely, we first introduce the well known KKT theorem in optimization problems, which is used in the MPC calculation procedure. Secondly, we review the MPC calculation and present a linear Lagrangian algorithm for the KKT theorem, which is combined with Wolfe conditions and Dual method. Finally, in order to demonstrate the proposed approach, we provide one numerical example and another example for stabilization of inverted pendulums.

Original languageEnglish
Article number012073
JournalJournal of Physics: Conference Series
Volume1490
Issue number1
DOIs
Publication statusPublished - 2020 Jun 9
Event5th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2019 - Surabaya, Indonesia
Duration: 2019 Oct 19 → …

ASJC Scopus subject areas

  • Physics and Astronomy(all)

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