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A Dual Active-Set Solver for Embedded Quadratic Programming Using Recursive LDLT Updates
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DOI：10.1109/TAC.2022.3176430.png)
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Abstract
En 中文
In this technical article, we present a dual active-set solver for quadratic programming that has properties suitable for use in embedded model predictive control applications. In particular, the solver is efficient, can easily be warm started, and is simple to code. Moreover, the exact worst-case computational complexity of the solver can be determined offline and, by using outer proximal-point iterations, ill-conditioned problems can be handled in a robust manner.
Keywords:
Embedded optimization
model predictive control
(MPC)
quadratic programming (QP)
Journal
IF:
7
Papers:
1.3W
Citations:
6.7W