Fast Model Predictive Control Based on Adaptive Alternating Direction Method of Multipliers
Model Predictive Control (MPC) can effectively handle control problem with disturbances, multicontrol variables, and complex constraints and is widely used in various control systems. In MPC, the control input at each time step is obtained by solving an online optimization problem, which will cause...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Journal of Chemistry |
| Online Access: | http://dx.doi.org/10.1155/2019/8035204 |
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| _version_ | 1832562533861425152 |
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| author | Yu Li Qiming Zou Xiaoru Ji Chanyuan Zhang Ke Lu |
| author_facet | Yu Li Qiming Zou Xiaoru Ji Chanyuan Zhang Ke Lu |
| author_sort | Yu Li |
| collection | DOAJ |
| description | Model Predictive Control (MPC) can effectively handle control problem with disturbances, multicontrol variables, and complex constraints and is widely used in various control systems. In MPC, the control input at each time step is obtained by solving an online optimization problem, which will cause a time delay in real time on embedded computers with limited computational resources. In this paper, we utilize adaptive Alternating Direction Method of Multipliers (a-ADMM) to accelerate the solution of MPC. This method adaptively adjusts penalty parameter to balance the value of primal residual and dual residual. The performance of this approach is profiled via the control of a quadcopter with 12 states and 4 controls and prediction horizon ranging from 10 to 40. The simulation results demonstrate that the MPC based on a-ADMM has a significant improvement in real-time and convergence performance and thus is more suitable for solving large-scale optimal control problems. |
| format | Article |
| id | doaj-art-65e7348740384b65b9da2f129491083d |
| institution | Kabale University |
| issn | 2090-9063 2090-9071 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Chemistry |
| spelling | doaj-art-65e7348740384b65b9da2f129491083d2025-02-03T01:22:26ZengWileyJournal of Chemistry2090-90632090-90712019-01-01201910.1155/2019/80352048035204Fast Model Predictive Control Based on Adaptive Alternating Direction Method of MultipliersYu Li0Qiming Zou1Xiaoru Ji2Chanyuan Zhang3Ke Lu4School of Management Science and Engineering, Anhui University of Technology, Ma’anshan, ChinaSchool of Computer Science and Technology, Harbin Institute of Technology, Harbin, ChinaSchool of Management Science and Engineering, Anhui University of Technology, Ma’anshan, ChinaSchool of Management Science and Engineering, Anhui University of Technology, Ma’anshan, ChinaSchool of Management Science and Engineering, Anhui University of Technology, Ma’anshan, ChinaModel Predictive Control (MPC) can effectively handle control problem with disturbances, multicontrol variables, and complex constraints and is widely used in various control systems. In MPC, the control input at each time step is obtained by solving an online optimization problem, which will cause a time delay in real time on embedded computers with limited computational resources. In this paper, we utilize adaptive Alternating Direction Method of Multipliers (a-ADMM) to accelerate the solution of MPC. This method adaptively adjusts penalty parameter to balance the value of primal residual and dual residual. The performance of this approach is profiled via the control of a quadcopter with 12 states and 4 controls and prediction horizon ranging from 10 to 40. The simulation results demonstrate that the MPC based on a-ADMM has a significant improvement in real-time and convergence performance and thus is more suitable for solving large-scale optimal control problems.http://dx.doi.org/10.1155/2019/8035204 |
| spellingShingle | Yu Li Qiming Zou Xiaoru Ji Chanyuan Zhang Ke Lu Fast Model Predictive Control Based on Adaptive Alternating Direction Method of Multipliers Journal of Chemistry |
| title | Fast Model Predictive Control Based on Adaptive Alternating Direction Method of Multipliers |
| title_full | Fast Model Predictive Control Based on Adaptive Alternating Direction Method of Multipliers |
| title_fullStr | Fast Model Predictive Control Based on Adaptive Alternating Direction Method of Multipliers |
| title_full_unstemmed | Fast Model Predictive Control Based on Adaptive Alternating Direction Method of Multipliers |
| title_short | Fast Model Predictive Control Based on Adaptive Alternating Direction Method of Multipliers |
| title_sort | fast model predictive control based on adaptive alternating direction method of multipliers |
| url | http://dx.doi.org/10.1155/2019/8035204 |
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