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ALTRO-C: A Fast Solver for Conic Model-Predictive Control

Jackson, Brian E. and Punnoose, Tarun and Neamati, Daniel and Tracy, Kevin and Jitosho, Rianna and Manchester, Zachary (2021) ALTRO-C: A Fast Solver for Conic Model-Predictive Control. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 7357-7364. ISBN 978-1-7281-9077-8.

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Model-predictive control (MPC) is an increasingly popular method for controlling complex robotic systems in which optimal control problems are solved on board the robot at real-time rates. However, successful application of MPC depends critically on the performance of the algorithms used to solve the underlying optimization problems. An ideal solver should both leverage the structure of the MPC problem and support efficient "warm starting" so that information from previous solutions can be recycled to speed convergence. We present ALTRO-C, a high-performance solver with both of these properties that utilizes an augmented Lagrangian method to handle general convex conic constraints. We demonstrate the new solver’s superior performance against several existing state-of-the-art solvers on a variety of benchmark control problems formulated as both quadratic and second-order cone programs.

Item Type:Book Section
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URLURL TypeDescription
Neamati, Daniel0000-0002-1555-1433
Jitosho, Rianna0000-0003-0820-3112
Manchester, Zachary0000-0002-3071-7091
Additional Information:© 2021 IEEE. This work was supported by a NASA Early Career Faculty Award (Grant Number 80NSSC18K1503). This material is based upon work supported by the National Science Foundation Graduate Research Fellowship Program under Grant No. DGE-1656518. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.
Funding AgencyGrant Number
NSF Graduate Research FellowshipDGE-1656518
Record Number:CaltechAUTHORS:20211217-98191000
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Official Citation:B. E. Jackson, T. Punnoose, D. Neamati, K. Tracy, R. Jitosho and Z. Manchester, "ALTRO-C: A Fast Solver for Conic Model-Predictive Control," 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 7357-7364, doi: 10.1109/ICRA48506.2021.9561438
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:112516
Deposited By: George Porter
Deposited On:17 Dec 2021 23:25
Last Modified:17 Dec 2021 23:25

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