Juan L. Jerez

Low-complexity method for hybrid MPC with local guarantees

  • Alexander Domahidi
  • Angelos Georghiou
  • Damian Frick
  • Juan L. Jerez
  • Manfred Morari
    • Categories Constrained Nonlinear Optimization, Control Applications Tags , , ,

    Model predictive control problems for constrained hybrid systems are usually cast as mixed-integer optimization problems (MIP). However, commercial MIP solvers are designed to run on desktop computing platforms and are not suited for embedded applications which are typically restricted by limited computational power and memory. To alleviate these restrictions, we develop a novel low-complexity, iterative … Read more

    Embedded Online Optimization for Model Predictive Control at Megahertz Rates

  • George A. Constantinides
  • Paul J. Goulart
  • Eric C. Kerrigan
  • Stefan Richter
  • Juan L. Jerez
  • Manfred Morari
    • Categories Parallel Algorithms, Quadratic Programming Tags , ,

    Faster, cheaper, and more power efficient optimization solvers than those currently offered by general-purpose solutions are required for extending the use of model predictive control (MPC) to resource-constrained embedded platforms. We propose several custom computational architectures for different first-order optimization methods that can handle linear-quadratic MPC problems with input, input-rate, and soft state constraints. We … Read more