Efficient Numerical Methods for Nonlinear MPC and Moving Horizon Estimation

By Moritz Diehl, Hans Joachim Ferreau, Niels Haverbeke. 2009

575 citations recorded by the source corpus.

Subfields: Control and Systems Engineering, Radiology, Nuclear Medicine and Imaging

View Paper: https://www.semanticscholar.org/paper/c37937b6ac966b9f056036a06c8c872397190be0

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Control and Systems Engineering

1. Sergey Levine
2. Pieter Abbeel
3. E. Todorov
4. Yuval Tassa
5. Vikash Kumar
6. Tom Erez
7. Chelsea Finn
8. Igor Mordatch

In Radiology, Nuclear Medicine and Imaging

1. E. Todorov
2. Yuval Tassa
3. Tom Erez

Citations in the corpus

• Synthesis and stabilization of complex behaviors through online trajectory optimization (2012, methodology): “In domains such as chemical process control where the dynamics are sufficiently slow and smooth – and thus online trajectory optimization is already feasible – MPC is the method of choice [1].”
• Cautious Model Predictive Control Using Gaussian Process Regression (2017, background): “Problems of this form can typically be solved to local optima using sequential quadratic programming (SQP) or nonlinear interior-point methods [26].”
• Advancing data assimilation in operational hydrologic forecasting: progresses, challenges, and emerging opportunities (2012, background): “Using one or the other approach has certain advantages which are discussed in Diehl et al. (2009).”
• From linear to nonlinear MPC: bridging the gap via the real-time iteration (2020, background): “This concept is typically referred to as initial value embedding and it allows for a generalised tangential predictor from one time step to the next, as discussed in more detail in Diehl et al. (2009).”
• acados—a modular open-source framework for fast embedded optimal control (2019, background): “For a brief overview, we refer the reader to [22].”
• Control-limited differential dynamic programming (2014, background): “In that context the problem is transcribed into a generic sequential quadratic programming (SQP) which easily admits both equality and inequality constraints.”
• Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts (2011, methodology): “[8], and references therein), but its application to robotic domains is only starting to gain popularity [1].”