An online active set strategy to overcome the limitations of explicit MPC

By Hans Joachim Ferreau, Hans Georg Bock, Moritz Diehl. 2008

666 citations recorded by the source corpus.

Subfields: Control and Systems Engineering, Numerical Analysis

View Paper: https://www.semanticscholar.org/paper/90bc5df2fb4b33c94895ebeca0355868960ee828

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In Control and Systems Engineering

In Numerical Analysis

Citations in the corpus

Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control (2018, methodology): “The qpOASES solver specializes in solving quadratic programs for MPC with the online active set strategy [31] and was used to solve the convex optimization problem.”
An Accelerated Dual Gradient-Projection Algorithm for Embedded Linear Model Predictive Control (2014, methodology): “4 [46], the interior-point solver QUADPROG of MATLAB R2012a Optimization Toolbox, QPOASES [5], the QP solver of the MPC Toolbox [47] DANTZGMP, based on the active set method described in [4], and the new QP solver of the MPC Toolbox implementing the QPKWIK algorithm [6].”
qpOASES: a parametric active-set algorithm for quadratic programming (2014, methodology): “The algorithm considered in this paper has been proposed in [7] in the form of the primal-dual Parametric Quadratic Programming (PQP) method , and was later adapted for use in model predictive control (MPC), see [19].”
Efficient Numerical Methods for Nonlinear MPC and Moving Horizon Estimation (2009, background): “We also discussed the recently proposed simultaneous ”advanced step controller” [64] and ”multi-level real-time iterations” [7], as well as fast online QP solutions [23].”
A Splitting Method for Optimal Control (2013, background): “In the extreme case when ψt is fully separable (down to the individual scalar entries), (9) reduces to solving m + n scalar proximal minimization problems.”
Online Walking Motion Generation with Automatic Footstep Placement (2010, background): “Assembling and solving the full QP (19) in this case takes less than 1 ms in average with state of the art solvers such as QL [15] or qpOASES [6, 5, 14], notwithstanding the possible optimizations presented in [3] or the optimized solver presented in [4] which can help reduce furthermore the…”
An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range (2011, background): “Active-set algorithms form a second class of suitable QP solvers, thus also the open-source package qpOASES [1] – which implements an online active set strategy [17] – is interfaced.”
Predictive Control for Linear and Hybrid Systems (2017, background): “, [21, 55, 256, 105, 209, 212, 284, 61, 25] requires the simultaneous analysis of several issues such as speed of computation, storage demand and real time code verifiability.”