4 papers
A Modular Framework for Distributed Model Predictive Control of Nonlinear Continuous-Time Systems (GRAMPC-D)
Daniel Burk, Andreas Völz, Knut Graichen
The modular open-source framework GRAMPC-D for model predictive control of distributed systems is presented in this paper. The modular concept allows to solve optimal control probl…
Fast Trajectory Planning for Automated Vehicles using Gradient-based Nonlinear Model Predictive Control
Franz Gritschneder, Knut Graichen, Klaus Dietmayer
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicl…
A software framework for embedded nonlinear model predictive control using a gradient-based augmented Lagrangian approach (GRAMPC)
Tobias Englert, Andreas Völz, Felix Mesmer +2
A nonlinear MPC framework is presented that is suitable for dynamical systems with sampling times in the (sub)millisecond range and that allows for an efficient implementation on e…
Distributed model predictive control for continuous-time nonlinear systems based on suboptimal ADMM
Anja Bestler, Knut Graichen
The paper presents a distributed model predictive control (DMPC) scheme for continuous-time nonlinear systems based on the alternating direction method of multipliers (ADMM). A sto…