Banded null basis and ADMM for embedded MPC

• Main Authors: Dang, Thuy V, Ling, Keck Voon, Maciejowski, Jan
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering::Electrical and electronic engineering; ADMM; Banded Null Basis
• Online Access: https://hdl.handle.net/10356/89779; http://hdl.handle.net/10220/47137
• Institution: Nanyang Technological University

In this paper, we propose an improved QP solver for embedded implementations of MPC controllers. We adopt a “reduced Hessian” approach for handling the equality constraints that arise in the well-known “banded” formulation of MPC (in which the predicted states are not eliminated). Our key observatio...