IMPACT: 非線形モデル予測制御の仕様記述・プロトタイピング・実装のためのツールチェーン
IMPACT: A Toolchain for Nonlinear Model Predictive Control Specification, Prototyping, and Deployment
非線形モデル予測制御(NMPC)の仕様記述から自動コード生成までを支援するPython製ツールチェーンIMPACTを提案し、Simulinkを用いた組込みハードウェアへの実装例を示した。
著者: Alvaro Florez, Alejandro Astudillo, Wilm Decré, Jan Swevers, Joris Gillis
分類: math.OC, cs.RO, cs.SY, eess.SY
原文アブストラクト
We present IMPACT, a flexible toolchain for nonlinear model predictive control (NMPC) specification with automatic code generation capabilities. The toolchain reduces the engineering complexity of NMPC implementations by providing the user with an easy-to-use application programming interface, and with the flexibility of using multiple state-of-the-art tools and numerical optimization solvers for rapid prototyping of NMPC solutions. IMPACT is written in Python, users can call it from Python and MATLAB, and the generated NMPC solvers can be directly executed from C, Python, MATLAB and Simulink. An application example is presented involving problem specification and deployment on embedded hardware using Simulink, showing the effectiveness and applicability of IMPACT for NMPC-based solutions.
