Lifted implicit integrators for direct optimal control
Paper i proceeding, 2015

Nonlinear Model Predictive Control (NMPC) re- lies on solving an Optimal Control Problem (OCP) online at every sampling time. The discretization of the continuous time dynamics requires the deployment of some numerical integration method. To that end, implicit integrators are often preferred when stiff or implicitly defined dynamics are present in the system. Implicit integration schemes, however, are typi- cally more expensive to implement than explicit methods. This paper presents a novel lifting method for implicit integrators which improves their computational efficiency and accuracy in the context of Newton-type optimization algorithms. Similar to the standard lifted Newton, the proposed lifting method requires a marginal implementation effort. This novel approach has been implemented in the ACADO code generation software, and its efficiency illustrated using a nontrivial control example. An improved convergence and a computational speedup of about factor 2 are reported.

Författare

Rien Quirynen

Albert-Ludwigs-Universität Freiburg

KU Leuven

Sébastien Gros

Chalmers, Signaler och system, System- och reglerteknik

Moritz Diehl

KU Leuven

Albert-Ludwigs-Universität Freiburg

Proceedings of the IEEE Conference on Decision and Control

07431546 (ISSN) 25762370 (eISSN)

Vol. 54rd IEEE Conference on Decision and Control,CDC 2015 3212-3217
978-1-4799-7886-1 (ISBN)

Styrkeområden

Informations- och kommunikationsteknik

Fundament

Grundläggande vetenskaper

Ämneskategorier

Systemvetenskap

DOI

10.1109/CDC.2015.7402701

ISBN

978-1-4799-7886-1

Mer information

Senast uppdaterat

2024-07-11