Initialisation of Optimisation Solvers for Nonlinear Model Predictive Control: Classical vs. Hybrid Methods

Initialisation of Optimisation Solvers for Nonlinear Model Predictive Control: Classical vs. Hybrid Methods

In nonlinear Model Predictive Control (MPC) algorithms, the number of cost-function evaluations and the resulting calculation time depend on the initial solution to the nonlinear optimisation task. Since calculations must be performed fast on-line, the objective is to minimise these indicators. This...

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Bibliographic Details
Main Authors: Chaber, P. (Author), Ławryńczuk, M. (Author), Marusak, P.M (Author), Seredyński, D. (Author)
Format: Article
Language:English
Published: MDPI 2022
Subjects:
Approximators
computational efficiency
Computational efficiency
Controllers
Cost functions
Efficiency
Explicit model predictive control
Feedback
Flexible manipulators
Hybrid strategies
Industrial robots
Inverse problems
model predictive control
Model predictive control
Model-predictive control
Modular robots
Neural networks
neutralisation reactor
Neutralization reactor
Nonlinear model predictive control
Nonlinear systems
Optimal solutions
Optimal systems
optimisation
Optimisations
Optimization task
Predictive control systems
Quadratic programming
Robot applications
robot manipulator
Robots manipulators
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