FORCES NLP swMATH ID: 41780 Software Authors: Zanelli, A.; Domahidi, A.; Jerez, J.; Morari, M. Description: FORCES NLP: an efficient implementation of interior-point methods for multistage nonlinear nonconvex programs. Real-time implementation of optimisation-based control and trajectory planning can be very challenging for nonlinear systems. As a result, if an implementation based on a fixed linearisation is not suitable, the nonlinear problems are typically locally approximated online, in order to leverage the speed and robustness of embedded solvers for convex quadratic programs (QP) developed during the last decade. The purpose of this paper is to demonstrate that, using simple standard building blocks from nonlinear programming, combined with a structure-exploiting linear system solver, it is possible to achieve computation times in the range typical of solvers for QPs, while retaining nonlinearities and solving the nonlinear programs (NLP) to local optimality. The implemented algorithm is an interior-point method with approximate Hessians and adaptive barrier rules, and is provided as an extension to the C code generator FORCES. Three detailed examples are provided that illustrate a significant improvement in control performance when solving NLPs, with computation times that are comparable with those achieved by fast approximate schemes and up to an order of magnitude faster than the state-of-the-art interior-point solver IPOPT. Homepage: https://www.tandfonline.com/doi/abs/10.1080/00207179.2017.1316017 Keywords: predictive control; nonlinear systems; numerical optimisation; interior-point methods; embedded systems Related Software: qpOASES; GRAMPC; qpDUNES; Ipopt; ACADO; GitHub; MATMPC; liftedCollocation; VIATOC; HPIPM; acados; OSQP; BLASFEO; CVXGEN; CasADi; FiOrdOs; OOQP; fast_mpc; PANOC; Matlab Cited in: 5 Publications Standard Articles 1 Publication describing the Software, including 1 Publication in zbMATH Year FORCES NLP: an efficient implementation of interior-point methods for multistage nonlinear nonconvex programs. Zbl 1430.93069Zanelli, A.; Domahidi, A.; Jerez, J.; Morari, M. 2020 all top 5 Cited by 20 Authors 3 Zanelli, Andrea 2 Diehl, Moritz Mathias 2 Frison, Gianluca 2 Kouzoupis, Dimitris 1 Albin, Thivaharan 1 Baskonus, Haci Mehmet 1 Deng, Haoyang 1 Domahidi, Alexander 1 Frey, Jonathan 1 Gao, Wei 1 Jerez, Juan Luis 1 Morari, Manfred 1 Novoselnik, Branimir 1 Ohtsuka, Toshiyuki 1 Quirynen, Rien 1 Raja, Muhammad Asif Zahoor 1 Sabir, Zulqurnain 1 Umar, Muhammad Awais 1 van Duijkeren, Niels 1 Verschueren, Robin Cited in 4 Serials 2 International Journal of Control 1 Vietnam Journal of Mathematics 1 International Journal of Biomathematics 1 Mathematical Programming Computation all top 5 Cited in 6 Fields 2 Operations research, mathematical programming (90-XX) 2 Systems theory; control (93-XX) 1 (04-XX) 1 Calculus of variations and optimal control; optimization (49-XX) 1 Computer science (68-XX) 1 Biology and other natural sciences (92-XX) Citations by Year