A modular framework for distributed model predictive control of nonlinear continuous-time systems (GRAMPC-D)
The modular open-source framework GRAMPC-D for model predictive control of distributed systems is presented in this paper. The modular concept allows to solve optimal control problems in a centralized and distributed fashion using the same problem description. It is tailored to computational efficie...
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| Veröffentlicht in: | Optimization and engineering 2022, Vol.23 (2), p.771-795 |
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| creator | Burk, Daniel Völz, Andreas Graichen, Knut |
| description | The modular open-source framework GRAMPC-D for model predictive control of distributed systems is presented in this paper. The modular concept allows to solve optimal control problems in a centralized and distributed fashion using the same problem description. It is tailored to computational efficiency with the focus on embedded hardware. The distributed solution is based on the alternating direction method of multipliers and uses the concept of neighbor approximation to enhance convergence speed. The presented framework can be accessed through C++ and Python and also supports plug-and-play and data exchange between agents over a network. |
| doi_str_mv | 10.1007/s11081-021-09605-3 |
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| source | SpringerNature Journals |
| subjects | Computer networks Continuous time systems Control Control systems Data exchange Engineering Environmental Management Financial Engineering Mathematics Mathematics and Statistics Modular systems Nonlinear control Nonlinear systems Operations Research/Decision Theory Optimal control Optimization Predictive control Research Article Systems Theory |
| title | A modular framework for distributed model predictive control of nonlinear continuous-time systems (GRAMPC-D) |
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