Paper Info
Title
An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range
Abstract
In this paper, we present an automatic C-code generation strategy for real-time nonlinear model predictive control (NMPC), which is designed for applications with kilohertz sample rates. The corresponding code export module has been implemented within the software package ACADO Toolkit. It is capable of exporting fixed step-size integrators together with their sensitivities as well as a real-time Gauss-Newton method. Here, we employ the symbolic representation of optimal control problems in ACADO in order to auto-generate plain C-code which is optimized for final production. The exported code has been tested for model predictive control scenarios comprising constrained nonlinear dynamic systems with four states and a control horizon of ten samples. The numerical simulations show a promising performance of the exported code being able to provide feedback in much less than a millisecond.
Year
DOI
Venue
2011
10.1016/j.automatica.2011.08.020
Automatica
Keywords
Field
DocType
Nonlinear model predictive control,Automatic C-code generation,Real-time algorithms
Mathematical optimization,Microsecond,Nonlinear system,Optimal control,Control theory,Computer science,Model predictive control,Sampling (signal processing),Integrator,Algorithm,Software,Millisecond
Journal
Volume
Issue
ISSN
47
10
0005-1098
Citations 
PageRank 
References 
90
5.41
4
Authors
3
Name
Order
Citations
PageRank
Boris Houska121426.14
Hans Joachim Ferreau226617.65
Moritz Diehl31343134.37