Prof. Dr. Moritz Diehl
— abgelegt unter: FDM Seminar
Nonlinear Optimization Methods for Model Predictive Control of Mechatronic Systems
von 10:00 bis 11:00
|Wo||SR 125, Eckerstr. 1|
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 presents and discusses algorithms and open source software implementations that are designed to address these challenges, and reports on experimental tests with mechatronic, aerospace and automotive applications. The focus is on recent progress on numerical integration and derivative generation, as well as embedded quadratic programming methods.
FDM Seminar: http://www.fdm.uni-freiburg.de/seminar