摘要：AbstractIn Nonlinear Model Predictive Control(NMPC), an optimal control problem (OCP) is solved repeatedly at every sampling instant. To satisfy the real-time restriction, modern methods tend to convert the OCP into structured Nonlinear Programming problems (NLP), which are approximately solved on-line. Real-Time Iteration is one of the promising NMPC algorithms that solves the NLP using a single Sequential Quadratic Programming (SQP) iteration. To solve Quadratic Programming (QP) problems efficiently, recently proposed partial condensing techniques reformulate large and sparse QP problems into smaller but still sparse ones. In this paper, we propose two tailored partial condensing algorithms by combining partial sensitivity updating schemes, that are recently proposed to update part of the sensitivities of dynamics. We show that such a combination can significantly reduce the computational time for partial condensing and for the full RTI step.
关键词：KeywordsNonlinear model predictive controlnumerical optimizationreal-time implementation
