GPU-SLS computes safe robust nonlinear MPC policies online in ~20 ms for up to 75D systems by reachability-constrained system level synthesis accelerated via custom GPU QP solvers.
A computationally efficient robust model predictive control framework for uncertain nonlin- ear systems.IEEE Transactions on Automatic Control, 66(2):794–801
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Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU
GPU-SLS computes safe robust nonlinear MPC policies online in ~20 ms for up to 75D systems by reachability-constrained system level synthesis accelerated via custom GPU QP solvers.