A Sparse ADMM-Based Solver for Linear MPC Subject to Terminal Quadratic Constraint - Krupa, Pablo; Jaouani, Rim; Limon, Daniel; Alamo, Teodoro (IEEE transactions on control systems technology, 2024)
Keywords: Algorithms; Artificial intelligence; Closed loops; Complexity theory; Convex functions; Ellipsoids; Embedded optimization; Embedded systems; Feedback control; model predictive control (MPC); Optimization; Predictive control; Programming; quadratic constraints; second-order cone (SOC) programming; Slack variables; Solvers; Terminal constraints; Vectors