A Direct Optimization Algorithm for Input-Constrained MPC

Providing an execution time certificate is a pressing requirement when deploying model predictive control (MPC) in real-time embedded systems such as microcontrollers. Real-time MPC requires that its worst-case (maximum) execution time must be theoretically guaranteed to be smaller than the sampling time in a closed-loop. This technical note considers input-constrained MPC problems and exploits the structure of the resulting box-constrained QPs. Then, we propose a cost-free and data-independent initialization strategy, which enables us, for the first time, to remove the initialization assumption of feasible full-Newton interior-point algorithms. We prove that the number of iterations of our proposed algorithm is only dimension-dependent (data-independent), simple-calculated, and exact (not worst-case) with the value <tex-math notation="LaTeX">log (2n/ε )/-2log (√2n√2n+√2-1) \!+ 1</tex-math>, where <tex-math notation="LaTeX">n</tex-math> denotes the problem dimension and <tex-math notation="LaTeX">ε</tex-math> denotes the constant stopping tolerance. These features enable our algorithm to trivially certify the execution time of nonlinear MPC (via online linearized schemes) or adaptive MPC problems. The execution-time-certified capability of our algorithm is theoretically and numerically validated through an open-loop unstable AFTI-16 example.