Real-time proximal gradient method for linear MPC

Published: Jun 1, 2018
Abstract
This paper presents a real-time implementation of the proximal gradient method (PGM) in a model predictive control (MPC) setting. In each control update only one iteration of the PGM is performed, while a next update is warm-started using the solution of the previous one. When applied to linear time-invariant (LTI) systems with simple input constraints, the resulting control law becomes extremely simple and offers possibilities to obtain fast...
Paper Details
Title
Real-time proximal gradient method for linear MPC
Published Date
Jun 1, 2018
Journal
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