{"id":"https://openalex.org/W4366153279","doi":"https://doi.org/10.1016/j.ifacol.2023.03.051","title":"Towards Fast Nonlinear Model Predictive Control for Embedded Applications","display_name":"Towards Fast Nonlinear Model Predictive Control for Embedded Applications","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4366153279","doi":"https://doi.org/10.1016/j.ifacol.2023.03.051"},"language":"en","primary_location":{"id":"doi:10.1016/j.ifacol.2023.03.051","doi":"https://doi.org/10.1016/j.ifacol.2023.03.051","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2023.03.051","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1016/j.ifacol.2023.03.051","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035203946","display_name":"Vaishali Patne","orcid":"https://orcid.org/0000-0003-4198-8070","observed_orcids":["https://orcid.org/0000-0003-4198-8070"]},"institutions":[{"id":"https://openalex.org/I4405273661","display_name":"COEP Technological University","ror":"https://ror.org/008128n17","country_code":"IN","type":"education","lineage":["https://openalex.org/I4405273661"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Vaishali Patne","raw_affiliation_strings":["College of Engineering Pune, Shivajinagar Pune 411005, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering Pune, Shivajinagar Pune 411005, India","institution_ids":["https://openalex.org/I4405273661"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033346455","display_name":"Deepak D. Ingole","orcid":"https://orcid.org/0000-0001-7956-4850","observed_orcids":["https://orcid.org/0000-0001-7956-4850"]},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Deepak Ingole","raw_affiliation_strings":["KU Leuven, Department of Mechanical Engineering, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven, Department of Mechanical Engineering, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058282306","display_name":"Dayaram Sonawane","orcid":"https://orcid.org/0000-0002-4298-9879","observed_orcids":["https://orcid.org/0000-0002-4298-9879"]},"institutions":[{"id":"https://openalex.org/I4405273661","display_name":"COEP Technological University","ror":"https://ror.org/008128n17","country_code":"IN","type":"education","lineage":["https://openalex.org/I4405273661"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Dayaram Sonawane","raw_affiliation_strings":["College of Engineering Pune, Shivajinagar Pune 411005, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering Pune, Shivajinagar Pune 411005, India","institution_ids":["https://openalex.org/I4405273661"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5033346455","https://openalex.org/A5035203946","https://openalex.org/A5058282306"],"corresponding_institution_ids":["https://openalex.org/I4405273661","https://openalex.org/I99464096"],"apc_list":{"value":0,"currency":"USD","value_usd":0},"apc_paid":null,"fwci":0.1708,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.33483733,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":95},"biblio":{"volume":"55","issue":"22","first_page":"304","last_page":"309"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10963","display_name":"Advanced Optimization Algorithms Research","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonlinear-model-predictive-control","display_name":"nonlinear model predictive control","score":0.9990000128746033},{"id":"https://openalex.org/keywords/linear-model-predictive-control","display_name":"linear model predictive control","score":0.8149999976158142},{"id":"https://openalex.org/keywords/real-time-embedded-control","display_name":"embedded real-time control","score":0.7599999904632568},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"quadratic programming","score":0.8859999775886536},{"id":"https://openalex.org/keywords/computational-efficiency","display_name":"computational efficiency","score":0.6510000228881836},{"id":"https://openalex.org/keywords/helicopter-flight-control","display_name":"helicopter flight control","score":0.5730000138282776},{"id":"https://openalex.org/keywords/nonconvex-optimization","display_name":"non-convex optimization","score":0.6389999985694885}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8055494427680969},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6348654627799988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5756483674049377},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5592700839042664},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4651063084602356},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4548524022102356},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43318140506744385},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35803014039993286},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30921071767807007},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30135583877563477},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.22914332151412964},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20791134238243103},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13811278343200684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08046308159828186},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1016/j.ifacol.2023.03.051","doi":"https://doi.org/10.1016/j.ifacol.2023.03.051","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2023.03.051","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/765170","doi":null,"is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/765170","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"22nd International-Federation-of-Automatic-Control (IFAC) Symposium on Automatic Control in Aerospace (ACA), INDIA, Mumbai, 21-25 November 2022","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"doi:10.1016/j.ifacol.2023.03.051","doi":"https://doi.org/10.1016/j.ifacol.2023.03.051","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2023.03.051","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G7353410017","display_name":null,"funder_award_id":"WOS-A/ET-120/2018","funder_id":"https://openalex.org/F4320320719","funder_display_name":"Department of Science and Technology, Ministry of Science and Technology, India"}],"funders":[{"id":"https://openalex.org/F4320320719","display_name":"Department of Science and Technology, Ministry of Science and Technology, India","ror":"https://ror.org/0101xrq71"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W241118364","https://openalex.org/W1512222092","https://openalex.org/W2004208907","https://openalex.org/W2068993266","https://openalex.org/W2169967276","https://openalex.org/W2409383799","https://openalex.org/W2523760000","https://openalex.org/W2752199592","https://openalex.org/W2773363600","https://openalex.org/W2800520307","https://openalex.org/W2842089854","https://openalex.org/W2901808298","https://openalex.org/W2936995161","https://openalex.org/W2970447588","https://openalex.org/W3048969552","https://openalex.org/W3126436536","https://openalex.org/W3152824597","https://openalex.org/W3200417983","https://openalex.org/W4210836678","https://openalex.org/W4212997115","https://openalex.org/W4238743152","https://openalex.org/W4251988760","https://openalex.org/W4292078458","https://openalex.org/W6761030284"],"related_works":["https://openalex.org/W2968670062","https://openalex.org/W2489401851","https://openalex.org/W6981369774","https://openalex.org/W3006758159","https://openalex.org/W7166257954","https://openalex.org/W7084450094","https://openalex.org/W2919173505","https://openalex.org/W2609162628","https://openalex.org/W1972147897","https://openalex.org/W3209071924"],"abstract_inverted_index":{"Real-time":[0],"implementation":[1,138],"of":[2,44,57,63,82,128,193,225],"NMPC":[3,48,151],"has":[4],"its":[5],"limitations":[6],"for":[7,140],"the":[8,52,80,83,95,126,129,137,149,154,166,185,191,201,208,212,221,226],"embedded":[9,59,218],"applications":[10,219],"such":[11],"as":[12,30,177,203],"solving":[13],"a":[14,19,68,90,112],"non-convex":[15],"optimization":[16,70],"problem":[17,74],"within":[18],"sample":[20,54,77],"time,":[21],"high":[22,222],"computational":[23,175,223],"complexity,":[24,195],"and":[25,172,187],"limited":[26],"onboard":[27],"resources":[28,176],"(such":[29],"processor":[31],"speed,":[32],"memory,":[33],"power,":[34],"etc.).":[35],"To":[36],"mitigate":[37],"these":[38],"limitations,":[39],"we":[40],"have":[41],"proposed":[42,130,167],"application":[43],"Successive":[45],"Online":[46],"Linearization-based":[47],"(SOL-NMPC)":[49],"to":[50,66,124,179,198,205],"cater":[51],"fast":[53],"time":[55,78],"requirements":[56],"realtime":[58],"applications.":[60,143],"The":[61,106,118,144,160],"idea":[62],"SOL-NMPC":[64,108,168,214],"is":[65,98,109,122,146,169,215],"derive":[67],"convex":[69],"(Quadratic":[71],"Programming":[72],"(QP))":[73],"at":[75,190],"each":[76],"through":[79],"linearization":[81],"nonlinear":[84],"model":[85,121],"which":[86],"eventually":[87],"results":[88,135,162],"in":[89,157,217],"linear":[91],"MPC":[92],"formulation.":[93],"Subsequently,":[94],"resulting":[96],"LMPC":[97],"executed":[99],"online":[100],"by":[101,211],"using":[102,153],"state-of-the-art":[103],"QP":[104],"solvers.":[105],"developed":[107],"implemented":[110,152],"on":[111],"low-cost":[113],"STM32":[114],"Nucleo":[115],"development":[116],"board.":[117],"2-DOF-":[119],"Helicopter":[120],"used":[123],"demonstrate":[125,136],"effectiveness":[127],"SOL-NMPC.":[131],"Hardware-In-the-Loop":[132],"(HIL)":[133],"co-simulation":[134],"feasibility":[139],"real-time":[141],"control":[142],"performance":[145],"compared":[147,178,204],"with":[148,200],"classical":[150,180,227],"GRAMPC":[155],"toolbox":[156],"C/C++":[158],"environment.":[159],"comparison":[161],"show":[163],"that:":[164],"(i)":[165],"comparatively":[170],"faster":[171],"takes":[173],"less":[174],"NMPC,":[181],"(ii)":[182],"successfully":[183],"satisfies":[184],"constraints,":[186],"(iii)":[188],"however,":[189],"cost":[192],"reduced":[194],"one":[196],"needs":[197],"scarify":[199],"accuracy":[202,209],"NMPC.":[206,228],"Nevertheless,":[207],"obtained":[210],"presented":[213],"acceptable":[216],"over":[220],"burden":[224]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2023-04-19T00:00:00"}