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

Table 1

List of algorithmic parameters.

Parameters	IPM	qpOASES	ADMM	r-ADMM	a-ADMM
ρ	—	—	0.7	0.7	Adaptive
	0	0	0	0	0
	0	0	0	0	0
	0	0	0	0	0
α	—	—	1	1.5	1
	—	—	1e − 2	1e − 2	1e − 2
	—	—	1e − 4	1e − 4	1e − 4
μ	—	—	—	—	10
	—	—	—	—	2
	—	—	—	—	10
Maxiter	1000	1000	1000	1000	1000