Structure Exploiting Integration Schemes for acados

Jonathan Frey

University of Freiburg

Wednesday, August 15, 2018, 11:30

Room 01-012, Georges-Köhler-Allee 102, Freiburg 79110, Germany

Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) have become popular techniques for real-time control of various physical systems. However in the context of embedded optimization systems with fast dynamics are still a challenge.
The simulation of the model and its sensitivity propagation are key tasks within any standard MPC algorithm that have to be carried out frequently. Thus it makes sense to develop efficient algorithms for these tasks, such that lower sampling times are feasible. 
In this talk the status of (structure exploiting) integration schemes for acados will be discussed.