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A Dual Gradient Projection Quadratic Programming Algorithm Tailored for Model Predictive Control
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.ORCID iD: 0000-0001-6957-2603
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2008 (English)In: Proceedings of the 47th IEEE Conference on Decision and Control, 2008, 3057-3064 p.Conference paper, Published paper (Refereed)
Abstract [en]

The objective of this work is to derive a QP algorithm tailored for MPC. More specifically, the primary target application is MPC for discrete-time hybrid systems. A desired property of the algorithm is that warm starts should be possible to perform efficiently. This property is very important for on-line linear MPC, and it is crucial in branch and bound for hybrid MPC. In this paper, a dual active set-like QP method was chosen because of its warm start properties. A drawback with classical active set methods is that they often require many iterations in order to find the active set in optimum. Gradient projection methods are methods known to be able to identify this active set very fast and such a method was therefore chosen in this work. The gradient projection method was applied to the dual QP problem and it was tailored for the MPC application. Results from numerical experiments indicate that the performance of the new algorithm is very good, both for linear MPC as well as for hybrid MPC. It is also noticed that the number of QP iterations is significantly reduced compared to classical active set methods. 

Place, publisher, year, edition, pages
2008. 3057-3064 p.
Keyword [en]
Model predictive control, Hybrid systems, Quadratic programming, Mixed integer quadratic programming
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-44336DOI: 10.1109/CDC.2008.4738961Local ID: 76353ISBN: 978-1-4244-3124-3 (print)ISBN: 978-1-4244-3123-6 (print)OAI: oai:DiVA.org:liu-44336DiVA: diva2:265198
Conference
47th IEEE Conference on Decision and Control, Cancun, Mexico, December, 2008
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2016-08-31

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Axehill, DanielHansson, Anders

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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