Autogenerating microsecond solvers for nonlinear MPC: A tutorial using ACADO integrators

• Published in: Optimal control applications & methods Vol. 36; no. 5; pp. 685 - 704
• Main Authors: Quirynen, R., Vukov, M., Zanon, M., Diehl, M.
• Format: Journal Article
• Language: English
• Published: Glasgow Blackwell Publishing Ltd 01.09.2015; Wiley Subscription Services, Inc
• Subjects: Algorithms; code generation; Differential equations; embedded optimization; Integrators; International trade; Mathematical models; Matlab; NMPC; Nonlinearity; Runge-Kutta method; Runge-Kutta methods; sensitivity analysis

Summary Nonlinear model predictive control (NMPC) allows one to explicitly treat nonlinear dynamics and constraints. To apply NMPC in real time on embedded hardware, online algorithms as well as efficient code implementations are crucial. A tutorial‐style approach is adopted in this article to prese...