摘要：Quadratic programming problems (QPs) frequently appear in control engineering. For use on embedded platforms, a QP solver implementation is required in the programming language C. A new solver for quadratic optimization problems, EmbQP, is described, which was implemented in well readable C code. The algorithm is based on the dual method of Goldfarb and Idnani and solves strictly convex QPs with a positive definite objective function matrix and linear equality and inequality constraints. The algorithm is outlined and some details for an efficient implementation in C are shown, with regard to the requirements of embedded systems. The newly implemented QP solver is demonstrated in the context of control allocation of an over-actuated vehicle as application example. Its performance is assessed in a simulation experiment.
关键词：quadratic programming problems; active set method; embedded systems; control allocation problem; over-actuated mechanical systems quadratic programming problems ; active set method ; embedded systems ; control allocation problem ; over-actuated mechanical systems
