A Study on Optimization Algorithms in MPC

Yuki Nakagaki, Guisheng Zhai

研究成果: Conference article査読

抄録

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.

本文言語English
論文番号012073
ジャーナルJournal of Physics: Conference Series
1490
1
DOI
出版ステータスPublished - 2020 6 9
イベント5th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2019 - Surabaya, Indonesia
継続期間: 2019 10 19 → …

ASJC Scopus subject areas

  • 物理学および天文学(全般)

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