LAUSR

Banded null basis and ADMM for embedded MPC

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1 Published in 2017 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2017.08.2172

Abstract: Abstract 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… read more here.

Keywords: admm; mpc; banded null; basis admm ... See more keywords