Fast Model Predictive Control Based on Adaptive Alternating Direction Method of Multipliers

Figure 1

Effect of penalty parameter ρ of ADMM (a) and relaxation parameter α of r-ADMM (b) in terms of average number of iterations taken to converge. For each setting, algorithms are performed 50 times on the UAV control task (N = 10) with random initial states.

(a)

(b)