yuta527 / ParNMPC

A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)

ParNMPC Version 1808-1

New Features in Version 1808-1:

• Built-in support for inequality constraints. It becomes much reliable than the last version.
• Support for fmincon to solve the very first OCP.
• Simplified code generation procedure.

Introduction

Homepage: https://deng-haoyang.github.io/ParNMPC/

ParNMPC is a MATLAB real-time optimization toolkit for nonlinear model predictive control (NMPC). ParNMPC can utilize multiple CPU cores to solve the optimal control problem, and thus can be very fast (the computation time is usually in the range of us). The purpose of ParNMPC is to provide an easy-to-use environment for NMPC problem formulation, closed-loop simulation and deployment.

Highlights

• Symbolic problem representation
• Automatic parallel C/C++ code generation with OpenMP
• Fast rate of convergence (up to be superlinear)
• Highly parallelizable (capable of using at most N cores, N is the # of discretization steps)
• High speedup ratio
• MATLAB & Simulink

Installation

1. Clone or download ParNMPC.
2. Extract the downloaded file.

Requirements

• MATLAB 2016a or later
• MATLAB Coder
• MATLAB Optimization Toolbox
• MATLAB Parallel Computing Toolbox
• MATLAB Symbolic Math Toolbox
• C/C++ compiler supporting parallel code generation

Getting Started

This section shows how to do the closed-loop simulation in Simulink using MATLAB R2016a and Microsoft Visual C++ 2015 Professional as an example.

1. Run the following MATLAB command and select the Microsoft Visual C++ 2015 Professional (C) compiler:

>> mex -setup

2. Navigate to the Quadrotor/ folder.

>> cd  Quadrotor/

3. Open NMPC_Problem_Formulation.m and run. By running this file, the following things are done:

   • The NMPC controller is defined and configured, and necessary files are automatically generated to the ./funcgen/ and ./codegen/ folders.
   • The very first OCP is solved and its solution is saved to GEN_initData.mat.
   • The controlled plant for simulation is defined and auto-generated.

4. Open Simu_Simulink_Setup.m and run. By doing this, the NMPC controller is generated into C codes and compilied into a DLL file.

5. Open Simu_Simulink.slx and run. Simu_Simulink.slx calls the generated NMPC controller function from the DLL file.