Parallel Shooting Sequential Quadratic Programming for Nonlinear MPC Problems

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

Samenvatting

In this paper, we propose a parallel shooting algorithm for solving nonlinear model predictive control problems using sequential quadratic programming. This algorithm is built on a two-phase approach where we first test and assess sequential convergence over many initial trajectories in parallel. However, if none converge, the algorithm starts varying the Newton step size in parallel instead. Through this parallel shooting approach, it is expected that the number of iterations to converge to an optimal solution can be decreased. Furthermore, the algorithm can be further expanded and accelerated by implementing it on GPUs. We illustrate the effectiveness of the proposed Parallel Shooting Sequential Quadratic Programming (PS-SQP) method in some benchmark examples for nonlinear model predictive control. The developed PS-SQP parallel solver converges faster on average and especially when significant nonlinear behaviour is excited in the NMPC horizon.

Originele taal-2Engels
Titel2023 IEEE Conference on Control Technology and Applications, CCTA 2023
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's605-611
Aantal pagina's7
ISBN van elektronische versie979-8-3503-3544-6
DOI's
StatusGepubliceerd - 22 sep. 2023
Evenement2023 IEEE Conference on Control Technology and Applications, CCTA 2023 - Bridgetown, Barbados
Duur: 16 aug. 202318 aug. 2023

Congres

Congres2023 IEEE Conference on Control Technology and Applications, CCTA 2023
Land/RegioBarbados
StadBridgetown
Periode16/08/2318/08/23

Financiering

This research was performed within the framework of the research program AquaConnect, funded by the Dutch Research Council (NWO, grant-ID P19-45) and public and private partners of the AquaConnect consortium and coordinated by Wageningen University and Research.

FinanciersFinanciernummer
Nederlandse Organisatie voor Wetenschappelijk OnderzoekP19-45

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