Towards a modular software package for embedded optimization
| Autor: | Rien Quirynen, Andrea Zanelli, Niels van Duijkeren, Robin Verschueren, Dimitris Kouzoupis, Gianluca Frison, Moritz Diehl |
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| Rok vydání: | 2018 |
| Předmět: |
Rapid prototyping
0209 industrial biotechnology business.industry Computer science Computation 020208 electrical & electronic engineering Context (language use) 02 engineering and technology Inverted pendulum Model predictive control 020901 industrial engineering & automation Software Computer engineering Control and Systems Engineering 0202 electrical engineering electronic engineering information engineering Focus (optics) business Modular software |
| Zdroj: | IFAC-Papers |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2018.11.062 |
| Popis: | In this paper we present acados, a new software package for model predictive control. It provides a collection of embedded optimization algorithms written in C, with a strong focus on computational efficiency. Its modular structure makes it useful for rapid prototyping, i.e. designing a control algorithm by putting together different algorithmic components that are readily connected and interchanged. The usefulness of the software is demonstrated with a closed-loop simulation experiment of an inverted pendulum, which shows acados attaining sub-millisecond computation times per iteration. Furthermore, we showcase a new algorithmic idea in the context of embedded nonlinear model predictive control (NMPC), namely sequential convex quadratic programming (SCQP), along with an efficient implementation of it. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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