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Efficient active set optimization in triple mode MPC

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3 Author(s)
M. Cannon ; Dept. of Eng. Sci., Oxford Univ., UK ; B. Kouvaritakis ; J. A. Rossiter

An active set algorithm tailored to quadratically constrained quadratic programming in model predictive control (MPC) is presented. It enables efficient use of augmented ellipsoidal invariant sets in conjunction with polytopic constraints in triple mode MPG. The algorithm gives improved optimality and larger stabilizable initial condition sets than conventional quadratic programming MPC algorithms of comparable online computational burden

Published in:

IEEE Transactions on Automatic Control  (Volume:46 ,  Issue: 8 )