Quadratic program solver for MPC using variable ordering
AssigneeGarrett Transportation I Inc.
InventorOndrej Santin
Life of this patent
Estimating the term…
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 method for storing factors, comprising:
- precomputing a first set of factors of a matrix corresponding to an only set of combinations of currently active constraints;
- saving the first set of factors;
- deducing second factors from one or more factors of the first set of factors with a factor update scheme;
- storing the first set of factors and the second factors with variable ordering;
- enabling a deduction of third factors in zero floating-point operations per unit time (FLOPs) by just a row and/or column removal;
- and
- using a factor update with non-zero cost in FLOPs to further reduce memory consumption.
Dependencies are inferred from the claim text.