The Advanced Step Real Time Iteration for NMPC

Nurkanović, Armin; Zanelli, Andrea; Albrecht, Sebastian; Diehl, Moritz

doi:10.1109/cdc40024.2019.9029543

Cited by 10 publications

(1 citation statement)

References 18 publications

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“…Here, the optimal control problem might be solved in 2 kHz, but with variation of the control signal adapted to 10 kHz, see, e.g., [25]. Then, the interaction of open-and closed-loop control has to be taken into account [24], which might be addressed -if needed -by [7,20] or real-time iteration schemes in control [6] and estimation [26], see also the recently-proposed advanced step variants of the real-time iteration [18] (and [19] for an analysis of its convergence properties).…”

Section: Discussionmentioning

confidence: 99%

Model predictive control for retinal laser treatment at 1 kHz

Schaller¹,

Kleyman²,

Mordmüller³

et al. 2022

Preprint

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Laser photocoagulation is a technique applied in the treatment of retinal diseases. While this is often done manually or using simple control schemes, we pursue an optimization-based approach, namely Model Predictive Control (MPC), to enforce bounds on the peak temperature and, thus, safety during the medical treatment procedure -despite the spot-dependent absorption of the tissue. To this end, a repetition rate of 1 kHz is desirable rendering the real-time requirements a major challenge. We present a tailored MPC scheme using parametric model reduction, an extended Kalman filter for the parameter and state estimation, and suitably constructed stage costs and verify its applicability both in simulation and experiments with porcine eyes. Moreover, we give some insight on the implementation specifically tailored for fast numerical computations.

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