{"page":"659-668","intvolume":"        76","user_id":"35437","publication_status":"published","author":[{"orcid":"0000-0002-4339-0438","full_name":"Bachmann, Bernhard","first_name":"Bernhard","orcid_put_code_url":"https://api.orcid.org/v2.0/0000-0002-4339-0438/work/102900455","last_name":"Bachmann","id":"33931"},{"first_name":"Lennart","last_name":"Ochel","full_name":"Ochel, Lennart"},{"first_name":"Vitalij","last_name":"Ruge","full_name":"Ruge, Vitalij"},{"full_name":"Gebremedhin, Mahder","last_name":"Gebremedhin","first_name":"Mahder"},{"full_name":"Fritzson, Peter","last_name":"Fritzson","first_name":"Peter"},{"full_name":"Nezhadali, Vaheed","first_name":"Vaheed","last_name":"Nezhadali"},{"full_name":"Eriksson, Lars","last_name":"Eriksson","first_name":"Lars"},{"full_name":"Sivertsson, Martin","last_name":"Sivertsson","first_name":"Martin"}],"volume":76,"title":"Parallel Multiple-Shooting and Collocation Optimization with OpenModelica","publisher":"Linköping University Electronic Press","date_updated":"2025-02-18T08:54:20Z","language":[{"iso":"eng"}],"keyword":["Modelica","Optimica","optimization","multiple shooting","collocation","parallel","simulation"],"conference":{"location":"München","start_date":"2012-09-03","name":"9th International MODELICA Conference, Munich, Germany","end_date":"2012-09-05"},"publication_identifier":{"isbn":["978-91-7519-826-2"]},"publication":"Book of abstracts / 9th International Modelica Conference","year":"2012","_id":"1495","series_title":"Linköping Electronic Conference Proceedings","citation":{"chicago":"Bachmann, Bernhard, Lennart Ochel, Vitalij Ruge, Mahder Gebremedhin, Peter Fritzson, Vaheed Nezhadali, Lars Eriksson, and Martin Sivertsson. “Parallel Multiple-Shooting and Collocation Optimization with OpenModelica.” In <i>Book of Abstracts / 9th International Modelica Conference</i>, 76:659–68. Linköping Electronic Conference Proceedings. Linköping University Electronic Press, 2012. <a href=\"https://doi.org/10.3384/ecp12076659\">https://doi.org/10.3384/ecp12076659</a>.","alphadin":"<span style=\"font-variant:small-caps;\">Bachmann, Bernhard</span> ; <span style=\"font-variant:small-caps;\">Ochel, Lennart</span> ; <span style=\"font-variant:small-caps;\">Ruge, Vitalij</span> ; <span style=\"font-variant:small-caps;\">Gebremedhin, Mahder</span> ; <span style=\"font-variant:small-caps;\">Fritzson, Peter</span> ; <span style=\"font-variant:small-caps;\">Nezhadali, Vaheed</span> ; <span style=\"font-variant:small-caps;\">Eriksson, Lars</span> ; <span style=\"font-variant:small-caps;\">Sivertsson, Martin</span>: Parallel Multiple-Shooting and Collocation Optimization with OpenModelica. In: <i>Book of abstracts / 9th International Modelica Conference</i>, <i>Linköping Electronic Conference Proceedings</i>. Bd. 76 : Linköping University Electronic Press, 2012, S. 659–668","short":"B. Bachmann, L. Ochel, V. Ruge, M. Gebremedhin, P. Fritzson, V. Nezhadali, L. Eriksson, M. Sivertsson, in: Book of Abstracts / 9th International Modelica Conference, Linköping University Electronic Press, 2012, pp. 659–668.","ieee":"B. Bachmann <i>et al.</i>, “Parallel Multiple-Shooting and Collocation Optimization with OpenModelica,” in <i>Book of abstracts / 9th International Modelica Conference</i>, München, 2012, vol. 76, pp. 659–668.","mla":"Bachmann, Bernhard, et al. “Parallel Multiple-Shooting and Collocation Optimization with OpenModelica.” <i>Book of Abstracts / 9th International Modelica Conference</i>, vol. 76, Linköping University Electronic Press, 2012, pp. 659–68, doi:<a href=\"https://doi.org/10.3384/ecp12076659\">10.3384/ecp12076659</a>.","bibtex":"@inproceedings{Bachmann_Ochel_Ruge_Gebremedhin_Fritzson_Nezhadali_Eriksson_Sivertsson_2012, series={Linköping Electronic Conference Proceedings}, title={Parallel Multiple-Shooting and Collocation Optimization with OpenModelica}, volume={76}, DOI={<a href=\"https://doi.org/10.3384/ecp12076659\">10.3384/ecp12076659</a>}, booktitle={Book of abstracts / 9th International Modelica Conference}, publisher={Linköping University Electronic Press}, author={Bachmann, Bernhard and Ochel, Lennart and Ruge, Vitalij and Gebremedhin, Mahder and Fritzson, Peter and Nezhadali, Vaheed and Eriksson, Lars and Sivertsson, Martin}, year={2012}, pages={659–668}, collection={Linköping Electronic Conference Proceedings} }","ama":"Bachmann B, Ochel L, Ruge V, et al. Parallel Multiple-Shooting and Collocation Optimization with OpenModelica. In: <i>Book of Abstracts / 9th International Modelica Conference</i>. Vol 76. Linköping Electronic Conference Proceedings. Linköping University Electronic Press; 2012:659-668. doi:<a href=\"https://doi.org/10.3384/ecp12076659\">10.3384/ecp12076659</a>","apa":"Bachmann, B., Ochel, L., Ruge, V., Gebremedhin, M., Fritzson, P., Nezhadali, V., … Sivertsson, M. (2012). Parallel Multiple-Shooting and Collocation Optimization with OpenModelica. In <i>Book of abstracts / 9th International Modelica Conference</i> (Vol. 76, pp. 659–668). München: Linköping University Electronic Press. <a href=\"https://doi.org/10.3384/ecp12076659\">https://doi.org/10.3384/ecp12076659</a>"},"status":"public","doi":"10.3384/ecp12076659","date_created":"2021-11-09T13:06:25Z","type":"conference","abstract":[{"lang":"eng","text":"Nonlinear model predictive control (NMPC) has become increasingly important for today’s control engineers during the last decade. In order to apply NMPC a nonlinear optimal control problem (NOCP) must be solved which in general needs high computational effort. State-of-the-art solution algorithms are based on multiple shooting or collocation algorithms, which are required to solve the underlying dynamic model formulation. This paper describes a general discretization scheme applied to the dynamic model description which can be further concretized to reproduce the multiple shooting or collocation approach. Furthermore, this approach can be refined to represent a total collocation method in order to solve the underlying NOCP much more efficiently. Further speedup of optimization has been achieved by parallelizing the calculation of model specific parts (e.g. constraints, Jacobians, etc.) and is presented in the coming sections. The corresponding discretized optimization problem has been solved by the interior optimizer Ipopt. The proposed parallelized algorithms have been tested on different applications. As industrial relevant application an optimal control of a Diesel-Electric power train has been investigated. The modeling and problem description has been done in Optimica and Modelica. The simulation has been performed using OpenModelica. Speedup curves for parallel execution are presented."}]}