A Parametric Nonconvex Decomposition Algorithm for Real-Time and Distributed NMPC
A Parametric Nonconvex Decomposition Algorithm for Real-Time and Distributed NMPC
A novel decomposition scheme to solve parametric nonconvex programs as they arise in Nonlinear Model Predictive Control (NMPC) is presented. It consists of a fixed number of alternating proximal gradient steps and a dual update per time step. Hence, the proposed approach is attractive in a real-time distributed context. Assuming …