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MATMPC - A MATLAB Based Toolbox for Real-time Nonlinear Model Predictive Control

Beschreibung

In this talk, I introduce MATMPC, an open source software built in MATLAB for nonlinear model predictive control (NMPC). MATMPC has a number of algorithmic modules, including automatic differentiation, direct multiple shooting, condensing, linear quadratic program (QP) solver and globalization. It also supports lately developed algorithms such as Curvature-like Measure of Nonlinearity (CMoN) MPC and input moving block. In particular, it is designed to bridge the gap between MATLAB script based toolboxes and C/C++ based solvers/libraries by writing each module directly in MATLAB API for C. As a result, MATMPC modules can be compiled into MEX functions with performance comparable to plain C/C++ solvers while programming knowledge of writing C codes and compiling software is not necessary. Hence, it is a potential tool for students and new comers in NMPC who want to easily get started while tasting the real-time performance. Selected examples will be presented.

Vortragende

Dr. Yutao Chen

Auf einen Blick

Datum
17.12.2019
Uhrzeit
10:00 - 12:00 Uhr
Organisation
Aachener Bezirksverein e.V.
AK Produkt-und Prozessgestaltung
Ansprechperson
secretary@irt.rwth-aachen.de
Ort
IRT
Campus-Boulevard 30
52074 Aachen
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