4 papers
Low-Rank Modifications of Riccati Factorizations for Model Predictive Control
Isak Nielsen, Daniel Axehill
In Model Predictive Control (MPC) the control input is computed by solving a constrained finite-time optimal control (CFTOC) problem at each sample in the control loop. The main co…
Reduced Memory Footprint in Multiparametric Quadratic Programming by Exploiting Low Rank Structure
Isak Nielsen, Daniel Axehill
In multiparametric programming an optimization problem which is dependent on a parameter vector is solved parametrically. In control, multiparametric quadratic programming (mp-QP)…
An O(log N) Parallel Algorithm for Newton Step Computations with Applications to Moving Horizon Estimation
Isak Nielsen, Daniel Axehill
In Moving Horizon Estimation (MHE) the computed estimate is found by solving a constrained finite-time optimal estimation problem in real-time at each sample in a receding horizon…
A Parallel Riccati Factorization Algorithm with Applications to Model Predictive Control
Isak Nielsen, Daniel Axehill
Model Predictive Control (MPC) is increasing in popularity in industry as more efficient algorithms for solving the related optimization problem are developed. The main computation…