Fast Model Predictive Control Based on Adaptive Alternating Direction Method of Multipliers

Algorithm 1

a-ADMM algorithm framework.

	a-ADMM algorithm
	Initialization: optimization variables , ,
	While not converge by stopping criteria ((8a) and (8b)) and k¡maxiter do
	if
	else if
	else
	end if
	end while
	Output: optimal control input