Quadratic programming with ramp functions and fast online QP-MPC solutions
Résumé
A novel method is proposed for solving quadratic programming problems arising in model predictive control. The method is based on an implicit representation of the Karush-Kuhn-Tucker conditions using ramp functions. The method is shown to be highly efficient on both small and fairly large Quadratic Program problems, can be implemented using simple computer code, and has modest memory requirements.
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
|---|