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

Figure 4

Real-time performance (running time on y-axis) versus number of time steps (time steps on x-axis) of IPM, qpOASES, ADMM, r-ADMM, and a-ADMM on UAV control task with N ranging from 10 to 40: (a) N = 10, (b) N = 20, (c) N = 30, and (d) N = 40.

(a)

(b)

(c)

(d)