The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics Fast MPC: Fundamentals for breaking trough the speed barrier Fast NMPC: A Reality-Steered Paradigm Mazen Alamir CNRS, University of Grenoble, France. M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 0 / 28
117
Embed
Fast MPC: Fundamentals for breaking trough the speed ...€¦ · Overview of the tutorial session Fast MPC, a reality-steered paradigm(M. Alamir) Nonlinear MPC algorithms(M. Diehl)
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Fast MPC: Fundamentals forbreaking trough the speed barrier
Fast NMPC: A Reality-Steered Paradigm
Mazen Alamir
CNRS, University of Grenoble, France.
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 0 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Overview of the tutorial session
Fast MPC, a reality-steered paradigm (M. Alamir)
Nonlinear MPC algorithms (M. Diehl)
Exact penalty methods for fast MPC (V. Zavala)
Splitting methods for embeddedoptimization and control (C. Jones)
Co-Design of hardware and algorithmsfor embedded optimization (E. Kerrigan)
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 1 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Overview of this talk
1 Ideal NMPC
2 Fast NMPC
3 Advanced Topics
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 2 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Agenda
1 Ideal NMPCDefinition & Stability
2 Fast NMPC
3 Advanced Topics
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 2 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints /
Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost /
Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control /
Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control /
Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control /
Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control /
Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
Ideal NMPC: Informal Definition
Constraints / Cost / Control / Disturbances
Current state
Desired state
Current state
Desired state
Current state
Desired state
Constraints
Current state
Desired state
Current state
Desired state
Control input(d.o.f)
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Current state
Desired state
Closed-loop
Open-loop
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 3 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
time
Present
Prediction Horizon Beyond Prediction
Present
Prediction Horizon Beyond Prediction
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 4 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics
time
Present
Prediction Horizon Beyond Prediction
Present
Prediction Horizon Beyond Prediction
M. Alamir (ECC’14 Tutorial session) Fast NMPC: A Reality-Steered Paradigm 4 / 28
The Tutorial Session Ideal NMPC Fast NMPC Advanced Topics