An Embedded Input-constrained MPC Solver for Network of Robots
Year: 2025
Type: article
Abstract: In this paper, we propose a lightweight online embedded solver for input-constrained model predictive control problems on low-power, resource-constrained microcontrollers. Our method combines gradient projection and conjugate gradient techniques to quickly identify the optimal working set within an active-set strategy. Both simulations and real-world tests confirm that the proposed solver yields optimized inputs with reduced overshoot and enhanced smoothness, demonstrating its effectiveness on resource-limited hardware.
Source: IFAC-PapersOnLine
Authors: Haishan Zhang, Fengrong Xu, Ka Ming Lam, Bo Lan, Guangzhi Tian, Ling Shi
Institution: Hong Kong University of Science and Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4413097633