On November 10, we organized a scientific seminar on “Real-time Parallelizable MPC using Spatio-temporal Splitting“. The scientific seminar was led by Kristína Fedorová, a PhD. student at Slovak University of Technology in Bratislava. The scientific seminar was organized in the framework of the FrontSeat project as part of the seminar series on “Research Seminar on Smart Cybernetics”.
The utilization of distributed optimization within a Model Predictive Control (MPC) framework is a well-established practice in control engineering, particularly the concept of distributing MPC computations in the time domain. However, concerning distribution, the spatial domain has not received the same level of research attention and presents its own set of challenges. In this talk, we will introduce the framework of Real-time Parallelizable Model Predictive Control using Spatio-temporal Splitting, which combines the distribution of MPC computations in both time and space, significantly accelerating execution times. This approach is based on the Augmented Lagrangian-based Alternating Direction Inexact Newton method (ALADIN). We will delve into the spatial distribution challenges and demonstrate that it is possible to establish a predetermined number of iterations for the ALADIN algorithm. The latter allows the algorithm to solve the MPC problem in a suboptimal manner while ensuring the stability of the closed-loop system.
This project has received funding from the European Union’s Horizon under grant no. 101079342 (Fostering Opportunities Towards Slovak Excellence in Advanced Control for Smart Industries).