Advanced-Step Real-time Iterations with Four Levels – New Error Bounds and Fast Implementation in acados
arxiv(2024)
摘要
The Real-Time Iteration (RTI) is an online nonlinear model predictive control
algorithm that performs a single Sequential Quadratic Programming (SQP) per
sampling time. The algorithm is split into a preparation and a feedback phase,
where the latter one performs as little computations as possible solving a
single prepared quadratic program. To further improve the accuracy of this
method, the Advanced-Step RTI (AS-RTI) performs additional Multi-Level
Iterations (MLI) in the preparation phase, such as inexact or zero-order SQP
iterations on a problem with a predicted state estimate. This paper extends and
streamlines the existing analysis of AS-RTI, such as analyzing MLI of level A
and B for the first time, and significantly simplifying the proofs for levels C
and D. Moreover, this paper provides an efficient open-source implementation in
acados, making it widely accessible to practitioners.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要