An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range

Authors:
Boris Houska;Hans Joachim Ferreau;Moritz Diehl
Affiliations:
-;-;-
Venue:
Automatica (Journal of IFAC)
Year:
2011

Citing 3
Cited 1

A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control

SIAM Journal on Control and Optimization
The advanced-step NMPC controller: Optimality, stability and robustness

Automatica (Journal of IFAC)
A continuation/GMRES method for fast computation of nonlinear receding horizon control

Automatica (Journal of IFAC)

Moving horizon estimation and nonlinear model predictive control for autonomous agricultural vehicles

Computers and Electronics in Agriculture

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Abstract

In this paper, we present an automatic C-code generation strategy for real-time nonlinear model predictive control (NMPC), which is designed for applications with kilohertz sample rates. The corresponding code export module has been implemented within the software package ACADO Toolkit. It is capable of exporting fixed step-size integrators together with their sensitivities as well as a real-time Gauss-Newton method. Here, we employ the symbolic representation of optimal control problems in ACADO in order to auto-generate plain C-code which is optimized for final production. The exported code has been tested for model predictive control scenarios comprising constrained nonlinear dynamic systems with four states and a control horizon of ten samples. The numerical simulations show a promising performance of the exported code being able to provide feedback in much less than a millisecond.