Prof. Moritz Diehl
Nonlinear Optimization Methods for Model Predictive Control of Mechatronic Systems
| What |
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|---|---|
| When |
Feb 02, 2017 from 10:00 AM to 11:00 AM |
| Where | Room 404, Eckerstaße 1 |
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Model Predictive Control (MPC) for mechatronic systems is based on the online solution of medium scaled constrained nonlinear optimal control problems, with sampling times in the milli and microsecond range. This poses specific challenges for the problem formulation and the numerical solution methods. This talk pres- ents and discusses algorithms and open source software implementations that are designed to address these challenges, and reports on experimental tests with me- chatronic, aerospace and automotive applications. The focus is on recent progress on numerical integration and derivative generation, as well as embedded quadratic programming methods.