ADMM for MPC with state and input constraints, and input nonlinearity

ADMM for MPC with state and input constraints, and input nonlinearity

In this paper we propose an Alternating Direction Method of Multipliers (ADMM) algorithm for solving a Model Predictive Control (MPC) optimization problem, in which the system has state and input constraints and a nonlinear input map. The resulting optimization is nonconvex, and we provide a proof o...

書目詳細資料
Main Authors:	East, S, Cannon, M
格式:	Conference item
出版:	Institute of Electrical and Electronics Engineers 2018

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