Auto Generation of Implicit Integrators for Embedded NMPC with Microsecond Sampling Times
نویسندگان
چکیده
منابع مشابه
Hardware Tailored Linear Algebra for Implicit Integrators in Embedded NMPC
Nonlinear Model Predictive Control (NMPC) requires the efficient treatment of the dynamic model in the form of a system of continuous-time differential equations. Newtontype optimization relies on a numerical simulation method in addition to the propagation of first or higher order derivatives. In the case of stiff or implicitly defined dynamics, implicit integration schemes are typically prefe...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2012
ISSN: 1474-6670
DOI: 10.3182/20120823-5-nl-3013.00013