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Article overview
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Sparse preconditioning for model predictive control | | Andrew Knyazev
; Alexander Malyshev
; | | Date: |
1 Dec 2015 | | Abstract: | We propose fast O(N) preconditioning, where N is the number of gridpoints on
the prediction horizon, for iterative solution of (non)-linear systems
appearing in model predictive control methods such as forward-difference
Newton-Krylov methods. The Continuation/GMRES method for nonlinear model
predictive control, suggested by T. Ohtsuka in 2004, is a specific application
of the Newton-Krylov method, which uses the GMRES iterative algorithm to solve
a forward difference approximation of the optimality equations on every time
step. | | Source: | arXiv, 1512.0375 | | Services: | Forum | Review | PDF | Favorites | |
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