{"id":"https://openalex.org/W4394862985","doi":"https://doi.org/10.1109/tcst.2024.3386062","title":"A Sparse ADMM-Based Solver for Linear MPC Subject to Terminal Quadratic Constraint","display_name":"A Sparse ADMM-Based Solver for Linear MPC Subject to Terminal Quadratic Constraint","publication_year":2024,"publication_date":"2024-04-16","ids":{"openalex":"https://openalex.org/W4394862985","doi":"https://doi.org/10.1109/tcst.2024.3386062"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2024.3386062","doi":"https://doi.org/10.1109/tcst.2024.3386062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3386062","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","norway-2","poland-140","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2105.08419","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011267097","display_name":"Pablo Krupa","orcid":"https://orcid.org/0000-0002-6238-1166","observed_orcids":["https://orcid.org/0000-0002-6238-1166"]},"institutions":[{"id":"https://openalex.org/I4210150763","display_name":"Gran Sasso Science Institute","ror":"https://ror.org/043qcb444","country_code":"IT","type":"education","lineage":["https://openalex.org/I160013858","https://openalex.org/I4210150763"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Pablo Krupa","raw_affiliation_strings":["Gran Sasso Science Institute (GSSI), L\u2019Aquila, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6238-1166","affiliations":[{"raw_affiliation_string":"Gran Sasso Science Institute (GSSI), L\u2019Aquila, Italy","institution_ids":["https://openalex.org/I4210150763"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050790255","display_name":"Rim Jaouani","orcid":"https://orcid.org/0000-0002-1862-5557","observed_orcids":["https://orcid.org/0000-0002-1862-5557"]},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Rim Jaouani","raw_affiliation_strings":["Systems Engineering and Automation, Universidad de Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0002-1862-5557","affiliations":[{"raw_affiliation_string":"Systems Engineering and Automation, Universidad de Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068334157","display_name":"Daniel Lim\u00f3n","orcid":"https://orcid.org/0000-0001-9334-7289","observed_orcids":["https://orcid.org/0000-0001-9334-7289"]},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Daniel Limon","raw_affiliation_strings":["Systems Engineering and Automation, Universidad de Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0001-9334-7289","affiliations":[{"raw_affiliation_string":"Systems Engineering and Automation, Universidad de Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014219486","display_name":"Teodoro \u00c1lamo","orcid":"https://orcid.org/0000-0002-0623-8146","observed_orcids":["https://orcid.org/0000-0002-0623-8146"]},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Teodoro Alamo","raw_affiliation_strings":["Systems Engineering and Automation, Universidad de Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0002-0623-8146","affiliations":[{"raw_affiliation_string":"Systems Engineering and Automation, Universidad de Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":1.5783,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.80762244,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":92,"max":98},"biblio":{"volume":"32","issue":"6","first_page":"2376","last_page":"2384"},"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":0.00019999999494757503,"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/T11413","display_name":"Risk and Portfolio Optimization","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/linear-model-predictive-control","display_name":"linear model predictive control","score":0.949999988079071},{"id":"https://openalex.org/keywords/terminal-constraints","display_name":"terminal constraints","score":0.7480000257492065},{"id":"https://openalex.org/keywords/quadratic-constraints","display_name":"quadratic constraints","score":0.8460000157356262},{"id":"https://openalex.org/keywords/alternating-direction-method-of-multipliers","display_name":"alternating direction method of multipliers","score":0.9470000267028809},{"id":"https://openalex.org/keywords/sparse-solvers","display_name":"sparse solvers","score":0.8690000176429749},{"id":"https://openalex.org/keywords/second-order-cone-programming","display_name":"second-order cone programming","score":0.8209999799728394},{"id":"https://openalex.org/keywords/embedded-systems","display_name":"embedded systems","score":0.5920000076293945},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"quadratic programming","score":0.5590000152587891},{"id":"https://openalex.org/keywords/closed-loop-stability","display_name":"closed-loop stability","score":0.8399999737739563}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6868994235992432},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.6649912595748901},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6643500328063965},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.663547158241272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4945084750652313},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4884554445743561},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.43434274196624756},{"id":"https://openalex.org/C2777855551","wikidata":"https://www.wikidata.org/wiki/Q12310021","display_name":"Subject (documents)","level":2,"score":0.425969660282135},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38319265842437744},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.321174681186676},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C161191863","wikidata":"https://www.wikidata.org/wiki/Q199655","display_name":"Library science","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tcst.2024.3386062","doi":"https://doi.org/10.1109/tcst.2024.3386062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3386062","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","norway-2","poland-140","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2105.08419","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.08419","pdf_url":"https://arxiv.org/pdf/2105.08419","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2105.08419","doi":"https://doi.org/10.48550/arxiv.2105.08419","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2105.08419","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2105.08419","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.08419","pdf_url":"https://arxiv.org/pdf/2105.08419","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G150638851","display_name":null,"funder_award_id":"20228FT78M","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G1622782223","display_name":null,"funder_award_id":"MCIN/AEI/10","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":"https://ror.org/003x0zc53"},{"id":"https://openalex.org/F7311471023","display_name":"NextGenerationEU","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394862985.pdf","grobid_xml":"https://content.openalex.org/works/W4394862985.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W618928362","https://openalex.org/W1512222092","https://openalex.org/W1524886571","https://openalex.org/W1557931734","https://openalex.org/W1678380195","https://openalex.org/W1922736325","https://openalex.org/W1964730816","https://openalex.org/W1976410223","https://openalex.org/W1978956894","https://openalex.org/W1981723834","https://openalex.org/W1999913571","https://openalex.org/W2000927067","https://openalex.org/W2001328210","https://openalex.org/W2013439434","https://openalex.org/W2037450006","https://openalex.org/W2050999345","https://openalex.org/W2057894283","https://openalex.org/W2073787051","https://openalex.org/W2080407798","https://openalex.org/W2100096641","https://openalex.org/W2171505650","https://openalex.org/W2236834722","https://openalex.org/W2296319761","https://openalex.org/W2536620281","https://openalex.org/W2545460640","https://openalex.org/W2763081248","https://openalex.org/W2769646558","https://openalex.org/W2842089854","https://openalex.org/W2902675028","https://openalex.org/W2913535645","https://openalex.org/W2926319838","https://openalex.org/W2949953997","https://openalex.org/W3010639697","https://openalex.org/W3015033740","https://openalex.org/W3027032379","https://openalex.org/W3060734347","https://openalex.org/W3102923851","https://openalex.org/W3152370858","https://openalex.org/W3153855178","https://openalex.org/W3196849871","https://openalex.org/W3198328526","https://openalex.org/W3210839039","https://openalex.org/W4289927985","https://openalex.org/W4292363360","https://openalex.org/W4292510839","https://openalex.org/W4309182491","https://openalex.org/W7033489301"],"related_works":["https://openalex.org/W2172267746","https://openalex.org/W4402261997","https://openalex.org/W3216118643","https://openalex.org/W2968124130","https://openalex.org/W7098523287","https://openalex.org/W4405811829","https://openalex.org/W2056006513","https://openalex.org/W2766615170","https://openalex.org/W1963969379","https://openalex.org/W6986680781"],"abstract_inverted_index":{"Model":[0],"predictive":[1],"control":[2],"(MPC)":[3],"typically":[4],"includes":[5],"a":[6,28,33,54,80,106,114,145,170],"terminal":[7,43,115],"constraint":[8,23,44,75,117,147],"to":[9,32,49,113,139,141],"guarantee":[10],"stability":[11],"of":[12,40,86,97,124,144,151],"the":[13,38,60,73,84,94,98,120,134,142,149,187],"closed-loop":[14],"system":[15],"under":[16],"nominal":[17],"conditions.":[18],"In":[19,57,101],"linear":[20,110],"MPC,":[21],"this":[22,58,102],"is":[24,157,167],"generally":[25],"taken":[26],"on":[27,119],"polyhedral":[29],"set,":[30],"leading":[31,48],"quadratic":[34,55,74,135],"optimization":[35,51,61],"problem.":[36],"However,":[37],"use":[39,143,161],"an":[41,50],"ellipsoidal":[42,116],"may":[45],"be":[46,64,77],"desirable,":[47],"problem":[52,62],"with":[53,133],"constraint.":[56],"case,":[59],"can":[63,76],"solved":[65],"using":[66],"second-order":[67],"cone":[68],"(SOC)":[69],"programming":[70],"solvers,":[71],"since":[72,165],"posed":[78],"as":[79],"SOC":[81,146],"constraint,":[82],"at":[83],"expense":[85],"adding":[87],"additional":[88,152],"slack":[89],"variables":[90],"and":[91,174],"possibly":[92],"compromising":[93],"simple":[95],"structure":[96],"solver":[99,108,156],"ingredients.":[100],"brief,":[103],"we":[104,130],"present":[105],"sparse":[107],"for":[109,159],"MPC":[111],"subject":[112],"based":[118],"alternating":[121],"direction":[122],"method":[123],"multipliers":[125],"(ADMM)":[126],"algorithm":[127],"in":[128,162],"which":[129],"directly":[131],"deal":[132],"constraints":[136],"without":[137],"having":[138],"resort":[140],"nor":[148],"inclusion":[150],"decision":[153],"variables.":[154],"The":[155],"suitable":[158],"its":[160,181],"embedded":[163],"systems,":[164],"it":[166],"sparse,":[168],"has":[169],"small":[171],"memory":[172],"footprint,":[173],"requires":[175],"no":[176],"external":[177],"libraries.":[178],"We":[179],"compare":[180],"performance":[182],"against":[183],"other":[184],"approaches":[185],"from":[186],"literature.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2024-04-17T00:00:00"}
