A line search improvement of efficient MPC
A recent efficient Model Predictive Control (MPC) strategy uses a univariate Newton-Raphson procedure to solve a dual problem, but is not amenable to warm starting or early termination. By solving a primal problem, the current note proposes a strategy which is more efficient than the Newton-Raphson...
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| 格式: | Journal article |
| 語言: | English |
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Elsevier
2010
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| 主題: |
| 總結: | A recent efficient Model Predictive Control (MPC) strategy uses a univariate Newton-Raphson procedure to solve a dual problem, but is not amenable to warm starting or early termination. By solving a primal problem, the current note proposes a strategy which is more efficient than the Newton-Raphson method and which enables warm starting and early termination. Performance improvements are demonstrated over the Newton-Raphson method and alternative approaches based on quadratic programming or semidefinite programming. |
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