Towards real-time ADMM for linear MPC

Moritz Schulze Darup, Gerrit Book, Pontus Giselsson

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceedingPeer review


We present a novel predictive control scheme for linear constrained systems that uses the alternating direction method of multipliers (ADMM) for online optimization. In contrast to existing works on ADMM-based model predictive control (MPC), we only consider a single ADMM-iteration in every time step. The resulting real-time ADMM scheme is tailored for embedded and fast MPC implementations. The main difference to existing MPC schemes based on real-time iterations is that the proposed controller allows to include state and input constraints of the system. The paper derives the dynamics of the resulting closed-loop system, identifies important parameters of the real-time ADMM, and compares its performance to classical MPC.

Titel på värdpublikation2019 18th European Control Conference, ECC 2019
FörlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Antal sidor7
ISBN (elektroniskt)9783907144008
StatusPublished - 2019
Evenemang18th European Control Conference, ECC 2019 - Naples, Italy, Naples, Italien
Varaktighet: 2019 juni 252019 juni 28


Konferens18th European Control Conference, ECC 2019

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