Fast Model Predictive Control Combining Offline Method and Online Optimization with K-D Tree
作者： Yi Ding , Zuhua Xu , Jun Zhao , Zhijiang Shao
DOI: 10.1155/2015/982041
关键词:
摘要: Computation time is the main factor that limits application of model predictive control (MPC). This paper presents a fast algorithm combines offline method and online optimization to solve MPC problem. The uses k-d tree instead table implement partial enumeration, which accelerates searching operation. Only part explicit solution stored in for searching, updated runtime accommodate change operating point. Online invoked when on fails. Numerical experiments show proposed efficient both small-scale large-scale processes. average speedup process at least 6, worst-case 2, performance less than 0.05% suboptimal.
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