A parallel nonlinear model predictive control (NMPC) toolkit for C/C++ code generation and closed-loop simulation.
ParNMPC is an open-source MATLAB toolkit developed to carry out closed-loop simulation and generate parallel C/C++ code automatically with OpenMP for NMPC. The aim of ParNMPC is to provide an easy-to-use environment for NMPC problem formulation, initialization, parallel code generation and deployment. In ParNMPC, the underlying optimal control problem (OCP) of NMPC is solved based on a highly parallelizable Newton-type method, which computes the optimal solution iteratively with at most N cores, where N is the number of discretization grids or sometimes called the prediction horizon.
The current version of ParNMPC does not contain any globalization strategies such as the line-search and trust-region methods. It is currently under developing and will be available in the future release.
See UserManual for more details.
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