A Parallel Quadratic Programming Algorithm for Model Predictive Control

  title={A Parallel Quadratic Programming Algorithm for Model Predictive Control},
  author={Matthew Brand and Vijay Shilpiekandula and Chen Yao and Scott A. Bortoff and Takehiro Nishiyama},
In this paper, an iterative multiplicative algorithm is proposed for the fast solution of quadratic programming (QP) problems that arise in the real-time implementation of Model Predictive Control (MPC). The proposed algorithm — Parallel Quadratic Programming (PQP) — is amenable to fine-grained parallelization. Conditions on the convergence of the PQP algorithm are given and proved. Due to its extreme simplicity, even serial implementations offer considerable speed advantages. To demonstrate… CONTINUE READING
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