HPIPM: a high-performance quadratic programming framework for model predictive control

5 Mar 2020 Gianluca Frison Moritz Diehl

This paper introduces HPIPM, a high-performance framework for quadratic programming (QP), designed to provide building blocks to efficiently and reliably solve model predictive control problems. HPIPM currently supports three QP types, and provides interior point method (IPM) solvers as well (partial) condensing routines... (read more)

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Categories


  • OPTIMIZATION AND CONTROL
  • SYSTEMS AND CONTROL
  • SYSTEMS AND CONTROL