{"id":"https://openalex.org/W4391020582","doi":"https://doi.org/10.1109/cdc49753.2023.10383828","title":"Linear Model Predictive Control Under Continuous Path Constraints via Parallelized Primal-Dual Hybrid Gradient Algorithm","display_name":"Linear Model Predictive Control Under Continuous Path Constraints via Parallelized Primal-Dual Hybrid Gradient Algorithm","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4391020582","doi":"https://doi.org/10.1109/cdc49753.2023.10383828"},"language":"en","primary_location":{"id":"doi:10.1109/cdc49753.2023.10383828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10383828","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101419179","display_name":"Zishuo Li","orcid":"https://orcid.org/0000-0003-4744-455X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zishuo Li","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100657709","display_name":"Bo Yang","orcid":"https://orcid.org/0000-0002-8272-586X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Yang","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021036637","display_name":"Jiayun Li","orcid":"https://orcid.org/0000-0003-3957-3538"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayun Li","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101988438","display_name":"Jiaqi Yan","orcid":"https://orcid.org/0000-0003-2054-8033"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jiaqi Yan","raw_affiliation_strings":["ETH Zurich,Automatic Control Laboratory,Switzerland","Automatic Control Laboratory, ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich,Automatic Control Laboratory,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Automatic Control Laboratory, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5093745204","display_name":"Yilin Mol","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yilin Mol","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101419179"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.3752,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.62120138,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"159","last_page":"164"},"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":0.9968000054359436,"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/T11236","display_name":"Control Systems and Identification","score":0.989300012588501,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7609838247299194},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5736564993858337},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5701553225517273},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5527389049530029},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48059341311454773},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.47669121623039246},{"id":"https://openalex.org/keywords/constraint-satisfaction","display_name":"Constraint satisfaction","score":0.4653739631175995},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4580255448818207},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4350696802139282},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.41388195753097534},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13004851341247559}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7609838247299194},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5736564993858337},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5701553225517273},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5527389049530029},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48059341311454773},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.47669121623039246},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.4653739631175995},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4580255448818207},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4350696802139282},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.41388195753097534},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13004851341247559},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc49753.2023.10383828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10383828","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W357843092","https://openalex.org/W416122618","https://openalex.org/W1588500107","https://openalex.org/W1962644232","https://openalex.org/W1982019931","https://openalex.org/W2008797802","https://openalex.org/W2016093392","https://openalex.org/W2028717795","https://openalex.org/W2073787051","https://openalex.org/W2077478652","https://openalex.org/W2086072591","https://openalex.org/W2092663520","https://openalex.org/W2094917509","https://openalex.org/W2112396687","https://openalex.org/W2121680057","https://openalex.org/W2150436340","https://openalex.org/W2249032529","https://openalex.org/W2990138404","https://openalex.org/W3154076173","https://openalex.org/W3195475456","https://openalex.org/W4311114086","https://openalex.org/W4391020582","https://openalex.org/W6796262717"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W1494268238","https://openalex.org/W154868527","https://openalex.org/W1983207144","https://openalex.org/W2490706771","https://openalex.org/W2480116122","https://openalex.org/W4255576661","https://openalex.org/W2767128392","https://openalex.org/W4205300464","https://openalex.org/W2560900539"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,35,113],"consider":[4],"a":[5,12,77,100,115,135,162],"Model":[6],"Predictive":[7],"Control":[8],"(MPC)":[9],"problem":[10,71,81,98],"of":[11,32,103,170],"continuous-time":[13,19,90],"linear":[14,45],"timeinvariant":[15],"system":[16,43,156],"subject":[17],"to":[18,126],"path":[20],"constraints":[21],"on":[22,134,153],"the":[23,26,30,38,42,48,67,96,129,148,154,159,166],"states":[24],"and":[25,51,66],"inputs.":[27],"By":[28],"leveraging":[29],"concept":[31],"differential":[33,39],"flatness,":[34],"can":[36,72,122,142],"replace":[37],"equations":[40],"governing":[41],"with":[44],"mapping":[46],"between":[47],"states,":[49],"inputs,":[50],"flat":[52,58],"outputs":[53,59],"(including":[54],"their":[55],"derivatives).":[56],"The":[57],"are":[60],"then":[61],"parameterized":[62],"by":[63,176],"piecewise":[64],"polynomials,":[65],"model":[68],"predictive":[69],"control":[70],"be":[73,123],"equivalently":[74],"transformed":[75],"into":[76],"Semi-Definite":[78],"Programming":[79],"(SDP)":[80],"via":[82],"Sum-of-Squares":[83],"(SOS),":[84],"ensuring":[85],"constraint":[86,145,160],"satisfaction":[87],"at":[88],"every":[89],"interval.":[91],"We":[92],"further":[93],"note":[94],"that":[95,121,139],"SDP":[97],"contains":[99],"large":[101],"number":[102],"small-size":[104],"semi-definite":[105],"matrices":[106],"as":[107],"optimization":[108,130],"variables.":[109],"To":[110],"address":[111],"this,":[112],"develop":[114],"Primal-Dual":[116],"Hybrid":[117],"Gradient":[118],"(PDHG)":[119],"algorithm":[120,173],"efficiently":[124],"parallelized":[125],"speed":[127,168],"up":[128],"procedure.":[131],"Simulation":[132],"results":[133],"quadruple-tank":[136],"process":[137],"demonstrate":[138],"our":[140,171],"formulation":[141],"guarantee":[143],"strict":[144],"satisfaction,":[146],"while":[147],"standard":[149],"MPC":[150],"controller":[151],"based":[152],"discretized":[155],"may":[157],"violate":[158],"inside":[161],"sampling":[163],"period.":[164],"Moreover,":[165],"computational":[167],"superiority":[169],"proposed":[172],"is":[174],"collaborated":[175],"numerical":[177],"simulation.":[178]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}