Execution time certification for gradient-based optimization in model predictive control

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Abstract

We consider model predictive control (MPC) problems with linear dynamics, polytopic constraints, and quadratic objective. The resulting optimization problem is solved by applying an accelerated gradient method to the dual problem. The focus of this paper is to provide bounds on the number of iterations needed in the algorithm to guarantee a prespecified accuracy of the dual function value and the primal variables as well as guaranteeing a prespecified maximal constraint violation. The provided numerical example shows that the iteration bounds are tight enough to be useful in an inverted pendulum application.
Original languageEnglish
Title of host publication[Host publication title missing]
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages3165-3170
Publication statusPublished - 2012
Event51st IEEE Conference on Decision and Control, 2012 - Maui, Hawaii, Maui, Hawaii, United States
Duration: 2012 Dec 102012 Dec 13
Conference number: 51
http://www.ieeecss.org/CAB/conferences/cdc2012/

Publication series

Name
ISSN (Print)0191-2216

Conference

Conference51st IEEE Conference on Decision and Control, 2012
Abbreviated titlecdc2012
Country/TerritoryUnited States
CityMaui, Hawaii
Period2012/12/102012/12/13
Internet address

Bibliographical note

key=gis_cert_2012cdc

Subject classification (UKÄ)

  • Control Engineering

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  • LCCC

    Holmqvist, A. (Researcher), Andersson, N. (Researcher), Cervin, A. (Researcher), Mannesson, A. (Researcher), Gattami, A. (Researcher), Ghulchak, A. (Researcher), Papadopoulos, A. V. (Researcher), Rantzer, A. (Researcher), Robertsson, A. (Researcher), Sootla, A. (Researcher), THEORIN, A. (Researcher), Bernhardsson, B. (Researcher), Olofsson, B. (Researcher), Wittenmark, B. (Researcher), Grussler, C. (Researcher), Johnsson, C. (Researcher), MADJIDIAN, D. (Researcher), Johannesson, E. (Researcher), Magnusson, F. (Researcher), Ståhl, F. (Researcher), Como, G. (Researcher), Chasparis, G. (Researcher), Turesson, G. (Researcher), Dressler, I. (Researcher), Åkesson, J. (Researcher), Cho, J. H. (Researcher), Årzén, K.-E. (Researcher), Åström, K. J. (Researcher), Sou, K. C. (Researcher), Mårtensson, K. (Researcher), Berntorp, K. (Researcher), Soltesz, K. (Researcher), Lessard, L. (Researcher), Hast, M. (Researcher), Rönn, M. (Researcher), Ansbjerg Kjær, M. (Researcher), Maggio, M. (Researcher), Kristalny, M. (Researcher), Garpinger, O. (Researcher), From, P. J. (Researcher), Larsson, P.-O. (Researcher), Giselsson, P. (Researcher), Johansson, R. (Researcher), Hägglund, T. (Researcher), Vladimerou, V. (Researcher), Romero Segovia, V. (Researcher), Aurelius, A. (Researcher), Cedersjö, G. (Researcher), Bür, K. (Researcher), Dellkrantz, M. (Researcher), Du, M. (Researcher), Amani, P. (Researcher), Larsson, R. (Researcher), Tärneberg, W. (Research student), Li, Z. (Researcher), Yin, L. (Researcher), Tufvesson, F. (Researcher), Höst, S. (Researcher), Nilsson, B. (Researcher), Stenström, S. (Researcher), Andersson, J. A. (Researcher), Diehl, S. (Researcher), Dürango, J. (Researcher), Ghazaei Ardakani, M. (Researcher), Forsberg, P.-O. (Researcher), Bengtsson, F. (Researcher), Jörntell, H. (Researcher), Arévalo, C. (Researcher), Führer, C. (Researcher), Andersson, C. (Researcher), Mohammadi, F. (Researcher), Ödling, P. (Researcher), Andersson, M. (Researcher), Kihl, M. (Researcher) & Tunestål, P. (Researcher)

    2008/07/012018/06/30

    Project: Research

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