Reed Business Information
In this paper the authors investigate the use of parallel computing architectures (multi-core, FPGA and GPU) to solve, at each sampling instant, a constrained optimal control problem. A set of approximated (hence smaller) problems are solved simultaneously and the solution of the one with lower openloop cost is implemented. The approximation consists of the inclusion of additional hold constraints, which effectively reduce the number of steps in the prediction. Since smaller problems are solved, and these are solved in parallel, the computational delay is reduced and faster sampling becomes an option.