A dual gradient projection quadratic programming algorithm tailored for model predictive control

Abstract

The objective of this work is to derive a QP algorithm tailored for MPC. More specifically, the primary target application is MPC for discrete-time hybrid systems. A desired property of the algorithm is that warm starts should be possible to perform efficiently. This property is very important for on-line linear MPC, and it is crucial in branch and bound… (More)
DOI: 10.1109/CDC.2008.4738961

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