期刊
AUTOMATICA
卷 47, 期 10, 页码 2279-2285出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2011.08.020
关键词
Nonlinear model predictive control; Automatic C-code generation; Real-time algorithms
资金
- Research Council KUL [CoE EF/05/006, OT/03/30, GOA/10/009, GOA/10/11]
- Flemish Government: FWO [G.0452.04, G.0499.04, G.0211.05, G.0226.06, G.0321.06, G.0302.07, G.0320.08, G.0558.08, G.0557.08, G.0588.09, G.0377.09]
- ICCoS
- ANMMM
- MLDM
- IWT
- Belgian Federal Science Policy Office [IUAP P6/04]
- EU
- Helmholtz-viCERP
- EMBOCON
- COMET-ACCM
- Research Foundation-Flanders (FWO)
In this paper, we present an automatic C-code generation strategy for real-time nonlinear model predictive control (NMPC), which is designed for applications with kilohertz sample rates. The corresponding code export module has been implemented within the software package ACADO Toolkit. It is capable of exporting fixed step-size integrators together with their sensitivities as well as a real-time Gauss-Newton method. Here, we employ the symbolic representation of optimal control problems in ACADO in order to auto-generate plain C-code which is optimized for final production. The exported code has been tested for model predictive control scenarios comprising constrained nonlinear dynamic systems with four states and a control horizon of ten samples. The numerical simulations show a promising performance of the exported code being able to provide feedback in much less than a millisecond. (C) 2011 Elsevier Ltd. All rights reserved.
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