Efficient Robust Model Predictive Control using Chordality
arXiv: Optimization and Control（2018）
摘要
In this paper we show that chordal structure can be used to devise efficient optimization methods for robust model predictive control problems. The chordal structure is used both for computing search directions efficiently as well as for distributing all the other computations in an interior-point method for solving the problem. The framework enables efficient parallel computations.
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关键词
computational agents,chordality,chordal structure,primal-dual interior-point method,parallel computations,robust model predictive control,optimization methods,robust quadratic programming formulation
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