Pré-Publication, Document De Travail Année : 2025

An LPV-PILOT in Control: Real-time Nonlinear Predictive Control using Interior-point Log-barrier Optimisation Techniques and the LPV Framework

Résumé

Several recent works have demonstrated that Nonlinear Model Predictive Control (NMPC) schemes can be effectively designed using the Linear Parameter Varying (LPV) framework. In particular, LPV MPC have been shown as a powerful alternative to standard NMPC, reducing the overall involved computational stress while ensuring (near) optimal performance. Despite recent advances, many practical applications still rely on proprietary solvers to solve the involved Quadratic Programs. In this paper, we propose the first dedicated solver for NMPC using the LPV approach: LPV-PILOT. In particular, our solver is based on classical convex optimisation techniques, i.e. interior-point, coupled to qLPVembedding, constraints tightening, warm-start and fallback strategies. The developed solver is open-source, compatible with Matlab and ready for embedded C/C++ applications. To demonstrate the effectiveness of LPV-PILOT in engineering, several validation results are presented: a numerical simulation example of a twin-rotor system is used to discuss the numerical aspects of the solver; a hardware-in-the-loop helicopter landing problem is presented, for which the solver is embedded in an ESP32 microcontroller; and a thorough comparison of LPV-PILOT with a widely used NMPC toolbox from the literature is included: CasADi running ipopt. Our results indicate the numerical competitiveness of LPV-PILOT, with highlights to its simple structure and standard convex techniques. Without involving any multiple-shooting discretisation or real-time iterations, our scheme is shown to generate NMPC laws in the microsecond range in low-cost hardware environments.

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Dates et versions

hal-05281686 , version 1 (24-09-2025)
hal-05281686 , version 2 (28-04-2026)

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  • HAL Id : hal-05281686 , version 1

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Vinícius Moreno Sanches, Marcelo Menezes Morato, Ariel Medero, Julio Elias Normey-Rico, Olivier Sename. An LPV-PILOT in Control: Real-time Nonlinear Predictive Control using Interior-point Log-barrier Optimisation Techniques and the LPV Framework. 2025. ⟨hal-05281686v1⟩

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