Quadratic program solver for MPC using variable ordering
AssigneeGarrett Transportation I Inc.
InventorOndrej Santin
Life of this patent
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Abstract
A system and approach for storing factors in a quadratic programming solver of an embedded model predictive control platform. The solver may be connected to an optimization model which may be connected to a factorization module. The factorization module may incorporate a memory containing saved factors that may be connected to a factor search mechanism to find a nearest stored factor in the memory. A factor update unit may be connected to the factor search mechanism to obtain the nearest stored factor to perform a factor update. The factorization module may provide variable ordering to reduce a number of factors that need to be stored to permit the factors to be updated at zero floating point operations per unit of time.
Claims5
A process for solving a quadratic programming issue, comprising:
- an off-line portion;
- and
- an on-line portion;
- and wherein:
- the off-line portion comprises:
- finding an ordering of variables at each combination of a working set;
- selecting and computing a set of factors for a model predictive control (MPC) quadratic programming (QP) issue;
- and
- storing a selected subset of the set of factors in a memory;
- and
- the on-line portion comprises:
- initializing an on-line process;
- building a matrix on a current set of constraints;
- finding a nearest stored factor from the memory;
- performing a factor update with the nearest stored factor;
- solving the matrix;
- and
- updating a solution for a QP issue.
Dependencies are inferred from the claim text.