@inproceedings{297c56bea0894355a5002e3e274594c3,
title = "Early termination of NMPC interior point solvers: Relating the duality gap to stability",
abstract = "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.",
author = "Andrei Pavlov and Iman Shames and Chris Manzie",
note = "Publisher Copyright: {\textcopyright} 2019 EUCA.; 18th European Control Conference, ECC 2019 ; Conference date: 25-06-2019 Through 28-06-2019",
year = "2019",
month = jun,
doi = "10.23919/ECC.2019.8795629",
language = "English",
series = "2019 18th European Control Conference, ECC 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "805--810",
booktitle = "2019 18th European Control Conference, ECC 2019",
address = "United States",
}