Numerical optimization is key in the operation of complex systems. For different reasons such as resilience, data privacy and performance one may be interested in distributing numerical optimization over different nodes. In the realm of Model Predictive Control (MPC) this distributed optimization arises in the context of distributed MPC (DMPC).

We conduct research on distributed non-convex optimization and on distributed MPC for linear and nonlinear systems. 

[1] Stomberg, G., Engelmann, A. and Faulwasser, T., 2022. A compendium of optimization algorithms for distributed linear-quadratic MPC. at-Automatisierungstechnik.

[2] Stomberg, G., Ebel, H., Faulwasser, T. and Eberhard, P., 2023. Cooperative distributed MPC via decentralized real-time optimization: Implementation results for robot formations. Control Engineering Practice.

[3] Stomberg, G., Engelmann, A., Diehl, M. and Faulwasser, T., 2024. Decentralized real-time iterations for distributed nonlinear model predictive control. arXiv Preprint.

[4] Stomberg, G., Schwan, R., Grillo, A., Jones C. N. and Faulwasser, T., 2024. Cooperative distributed model predictive control for embedded systems: Experiments with hovercraft formations. arXiv Preprint.

[5] Stomberg, G., Raetsch, M., Engelmann A. and Faulwasser T. ,2024. Large problems are not necessarily hard: A case study on distributed NMPC paying off. arXiv Preprint.

[6] Engelmann, A., Jiang, Y., Houska, B., and Faulwasser, T. ,2020. Decomposition of nonconvex optimization via bi-level distributed ALADIN. IEEE Transactions on Control of Network Systems.

[7] Engelmann, A., Stomberg, G., and Faulwasser, T. ,2021. An essentially decentralized interior point method for control. In 2021 60th IEEE Conference on Decision and Control (CDC).

[8] Stomberg G., Engelmann A., and Faulwasser T. ,2022. Decentralized non-convex optimization via bi-level SQP and ADMM. In 2022 IEEE 61st Conference on Decision and Control (CDC).

[9] Engelmann A., Jiang Y., Benner H., Ou R., Houska B., and Faulwasser T. ,2022. ALADIN‐α—An open‐source MATLAB toolbox for distributed non‐convex optimization. Optimal Control Applications and Methods.