{"id":"https://openalex.org/W2042005915","doi":"https://doi.org/10.1109/tac.2015.2426231","title":"A Parametric Nonconvex Decomposition Algorithm for Real-Time and Distributed NMPC","display_name":"A Parametric Nonconvex Decomposition Algorithm for Real-Time and Distributed NMPC","publication_year":2015,"publication_date":"2015-04-24","ids":{"openalex":"https://openalex.org/W2042005915","doi":"https://doi.org/10.1109/tac.2015.2426231","mag":"2042005915"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2015.2426231","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2015.2426231","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/217776","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036879196","display_name":"Jean-Hubert Hours","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jean-Hubert Hours","raw_affiliation_strings":["Laboratoire d'Automatique, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Laboratoire d'Automatique; Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL); Lausanne Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Automatique, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Laboratoire d'Automatique; Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL); Lausanne Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085117832","display_name":"Colin N. Jones","orcid":"https://orcid.org/0000-0001-7239-4799"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Colin N. Jones","raw_affiliation_strings":["Laboratoire d'Automatique, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Laboratoire d'Automatique; Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL); Lausanne Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Automatique, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Laboratoire d'Automatique; Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL); Lausanne Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":10.3524,"has_fulltext":false,"cited_by_count":73,"citation_normalized_percentile":{"value":0.98356595,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"61","issue":"2","first_page":"287","last_page":"302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9793000221252441,"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/T10301","display_name":"Mitochondrial Function and Pathology","score":0.9778000116348267,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6102107763290405},{"id":"https://openalex.org/keywords/iterated-function","display_name":"Iterated function","score":0.5885729789733887},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5497310161590576},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5493525862693787},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5320428609848022},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5239957571029663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47229769825935364},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.46952882409095764},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4634395241737366},{"id":"https://openalex.org/keywords/continuation","display_name":"Continuation","score":0.46110352873802185},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.43332356214523315},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4157392680644989},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4031587839126587},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15813446044921875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0783412754535675}],"concepts":[{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6102107763290405},{"id":"https://openalex.org/C140479938","wikidata":"https://www.wikidata.org/wiki/Q5254619","display_name":"Iterated function","level":2,"score":0.5885729789733887},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5497310161590576},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5493525862693787},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5320428609848022},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5239957571029663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47229769825935364},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.46952882409095764},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4634395241737366},{"id":"https://openalex.org/C88626702","wikidata":"https://www.wikidata.org/wiki/Q1128903","display_name":"Continuation","level":2,"score":0.46110352873802185},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43332356214523315},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4157392680644989},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4031587839126587},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15813446044921875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0783412754535675},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tac.2015.2426231","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2015.2426231","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:217776","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/217776","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:infoscience.tind.io:217776","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/125389","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:217776","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/217776","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W137174213","https://openalex.org/W1603765807","https://openalex.org/W1607862333","https://openalex.org/W1631623342","https://openalex.org/W1669104078","https://openalex.org/W1967138577","https://openalex.org/W1979089199","https://openalex.org/W1993647205","https://openalex.org/W2003171289","https://openalex.org/W2007253528","https://openalex.org/W2012167011","https://openalex.org/W2021361347","https://openalex.org/W2022853838","https://openalex.org/W2037091587","https://openalex.org/W2042613327","https://openalex.org/W2049670620","https://openalex.org/W2056303209","https://openalex.org/W2059113336","https://openalex.org/W2062654556","https://openalex.org/W2070164662","https://openalex.org/W2078853581","https://openalex.org/W2082056119","https://openalex.org/W2086879149","https://openalex.org/W2098132613","https://openalex.org/W2123871098","https://openalex.org/W2129732816","https://openalex.org/W2133905478","https://openalex.org/W2164278908","https://openalex.org/W2186590998","https://openalex.org/W2294072419","https://openalex.org/W2964248064","https://openalex.org/W3209416867","https://openalex.org/W4292363360","https://openalex.org/W6633164705","https://openalex.org/W6671741319"],"related_works":["https://openalex.org/W2352275403","https://openalex.org/W2159885618","https://openalex.org/W1994937216","https://openalex.org/W2199313715","https://openalex.org/W2012352190","https://openalex.org/W4210910892","https://openalex.org/W2206497186","https://openalex.org/W4225691068","https://openalex.org/W2277985843","https://openalex.org/W1542828544"],"abstract_inverted_index":{"A":[0],"novel":[1],"decomposition":[2,107],"scheme":[3,94],"to":[4,117],"solve":[5],"parametric":[6],"nonconvex":[7],"programs":[8],"as":[9,144],"they":[10],"arise":[11],"in":[12,44],"Nonlinear":[13,52],"Model":[14],"Predictive":[15],"Control":[16],"(NMPC)":[17],"is":[18,42,55,72,86,109,151],"presented.":[19],"It":[20],"consists":[21],"of":[22,26,66,69,76,91,104,130,140,147],"a":[23,32,45,99,113,119,123,134,145,154],"fixed":[24,155],"number":[25],"alternating":[27],"proximal":[28],"gradient":[29],"steps":[30],"and":[31,57,122],"dual":[33],"update":[34],"per":[35],"time":[36],"step.":[37],"Hence,":[38],"the":[39,51,67,77,89,92,105,141,148],"proposed":[40,106,152],"approach":[41],"attractive":[43],"real-time":[46,135],"distributed":[47,124],"context.":[48],"Assuming":[49],"that":[50,58,88],"Program":[53],"(NLP)":[54],"semi-algebraic":[56],"its":[59],"critical":[60],"points":[61],"are":[62],"strongly":[63],"regular,":[64],"contraction":[65],"sequence":[68],"primal-dual":[70],"iterates":[71],"proven,":[73],"implying":[74],"stability":[75],"sub-optimality":[78,142],"error,":[79],"under":[80],"some":[81],"mild":[82],"assumptions.":[83],"Moreover,":[84],"it":[85],"shown":[87],"performance":[90],"optimality-tracking":[93],"can":[95],"be":[96],"enhanced":[97],"via":[98],"continuation":[100],"technique.":[101],"The":[102],"efficacy":[103],"method":[108],"demonstrated":[110],"by":[111],"solving":[112],"centralized":[114],"NMPC":[115,125],"problem":[116],"control":[118],"dc":[120],"motor":[121],"program":[126],"for":[127],"collaborative":[128],"tracking":[129],"unicycles,":[131],"both":[132],"within":[133],"framework.":[136],"Furthermore,":[137],"an":[138],"analysis":[139],"error":[143],"function":[146],"sampling":[149],"period":[150],"given":[153],"computational":[156],"power.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
