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Execution time certification for gradient-based optimization in model predictive control

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Author

Summary, in English

We consider model predictive control (MPC) problems with linear dynamics, polytopic constraints, and quadratic objective. The resulting optimization problem is solved by applying an accelerated gradient method to the dual problem. The focus of this paper is to provide bounds on the number of iterations needed in the algorithm to guarantee a prespecified accuracy of the dual function value and the primal variables as well as guaranteeing a prespecified maximal constraint violation. The provided numerical example shows that the iteration bounds are tight enough to be useful in an inverted pendulum application.

Publishing year

2012

Language

English

Pages

3165-3170

Publication/Series

[Host publication title missing]

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Conference name

51st IEEE Conference on Decision and Control, 2012

Conference date

2012-12-10 - 2012-12-13

Conference place

Maui, Hawaii, United States

Status

Published

Project

  • LCCC

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 0191-2216