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

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Sammanfattning

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.
Originalspråkengelska
Titel på värdpublikation[Host publication title missing]
FörlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Sidor3165-3170
StatusPublished - 2012
Evenemang51st IEEE Conference on Decision and Control, 2012 - Maui, Hawaii, Maui, Hawaii, USA
Varaktighet: 2012 dec. 102012 dec. 13
Konferensnummer: 51
http://www.ieeecss.org/CAB/conferences/cdc2012/

Publikationsserier

Namn
ISSN (tryckt)0191-2216

Konferens

Konferens51st IEEE Conference on Decision and Control, 2012
Förkortad titelcdc2012
Land/TerritoriumUSA
OrtMaui, Hawaii
Period2012/12/102012/12/13
Internetadress

Bibliografisk information

key=gis_cert_2012cdc

Ämnesklassifikation (UKÄ)

  • Reglerteknik

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