{
  "abstract": "We introduce an adaptive multi-parameter variant of ADMM and prove that it exhibits local superlinear convergence once the set of active constraints has been identified. In simulations, the proposed algorithm consistently outperforms OSQP, a standard ADMM solver, in terms of iteration count. We then implement an MPC solver based on our method and compare its runtime against a broader selection of state-of-the-art algorithms. Evaluations on challenging benchmark problems reveal that our approach delivers competitive performance both in terms of average and worst-case solve times, without being limited to coarse tolerances, as is typically the case for standard ADMM implementations and first-order methods.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2609.12992",
  "author_total": 2,
  "authors": [
    {
      "name": "Alberto Zaupa"
    },
    {
      "name": "Mikael Johansson"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/9v8wnt0zxvh9v.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2609.12992",
  "fulltext_url": null,
  "id": "9v8wnt0zxvh9v",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2609.12992",
  "language": null,
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "article",
  "licence_url": "http://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "cs.SY"
    ],
    [
      "arxiv",
      "eess.SY"
    ],
    [
      "arxiv",
      "math.OC"
    ],
    [
      "openalex",
      "2207|Advanced Control Systems Optimization"
    ]
  ],
  "openalex": "W7212479008",
  "pdf_url": "https://arxiv.org/pdf/2609.12992",
  "pmcid": null,
  "pmid": null,
  "published": "2026-09-11",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/9v8wnt0zxvh9v.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:21:11Z",
      "native_id": "2609.12992",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2609.12992"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "An Adaptive Multi-Parameter ADMM Algorithm for Embedded MPC",
  "title_text": "An Adaptive Multi-Parameter ADMM Algorithm for Embedded MPC",
  "type": "preprint",
  "updated_at": "2026-10-30T12:21:11Z",
  "url": "https://research.draconitic.com/paper/9v8wnt0zxvh9v",
  "venue": "arXiv",
  "versions": []
}