References & Citations
Electrical Engineering and Systems Science > Systems and Control
Title: A Modular Framework for Distributed Model Predictive Control of Nonlinear Continuous-Time Systems (GRAMPC-D)
(Submitted on 23 Oct 2020)
Abstract: The modular open-source framework GRAMPC-D for model predictive control of distributed systems is presented in this paper. The modular concept allows to solve optimal control problems (OCP) in a centralized and distributed fashion using the same problem description. It is tailored to computational efficiency with the focus on embedded hardware. The distributed solution is based on the Alternating Direction Method of Multipliers (ADMM) and uses the concept of neighbor approximation to enhance convergence speed. The presented framework can be accessed through Cpp and Python and also supports plug-and-play and data exchange between agents over a network.
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