TY - GEN
T1 - Early termination of NMPC interior point solvers
T2 - 18th European Control Conference, ECC 2019
AU - Pavlov, Andrei
AU - Shames, Iman
AU - Manzie, Chris
N1 - Publisher Copyright:
© 2019 EUCA.
PY - 2019/6
Y1 - 2019/6
N2 - In this paper, we present an early termination condition for the primal-dual interior-point method for application in nonlinear model predictive control (MPC) problems. The condition verifies the prescribed suboptimality level of a feasible iteration of the algorithm and enables one to employ the feasible suboptimal solution without jeopardising the stability of the system. The distinguishing property of the proposed condition is its primal-dual formulation, which allows the proposed early termination of the algorithm to be independent from any values computed on the previous time instances. Numeral experiments on a nonlinear planar multirotor system and a comparison of the proposed early termination condition with the existing methods are provided.
AB - In this paper, we present an early termination condition for the primal-dual interior-point method for application in nonlinear model predictive control (MPC) problems. The condition verifies the prescribed suboptimality level of a feasible iteration of the algorithm and enables one to employ the feasible suboptimal solution without jeopardising the stability of the system. The distinguishing property of the proposed condition is its primal-dual formulation, which allows the proposed early termination of the algorithm to be independent from any values computed on the previous time instances. Numeral experiments on a nonlinear planar multirotor system and a comparison of the proposed early termination condition with the existing methods are provided.
UR - http://www.scopus.com/inward/record.url?scp=85071557665&partnerID=8YFLogxK
U2 - 10.23919/ECC.2019.8795629
DO - 10.23919/ECC.2019.8795629
M3 - Conference contribution
T3 - 2019 18th European Control Conference, ECC 2019
SP - 805
EP - 810
BT - 2019 18th European Control Conference, ECC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 25 June 2019 through 28 June 2019
ER -