Banded null basis and ADMM for embedded MPC
In this paper, we propose an improved QP solver for embedded implementations of MPC controllers. We adopt a “reduced Hessian” approach for handling the equality constraints that arise in the well-known “banded” formulation of MPC (in which the predicted states are not eliminated). Our key observatio...
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| Fformat: | Journal Article |
| Iaith: | English |
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2018
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| Pynciau: | |
| Mynediad Ar-lein: | https://hdl.handle.net/10356/89779 http://hdl.handle.net/10220/47137 |