Managing time-storage complexity in point location problem: Application to explicit model predictive control
作者： Farhad Bayat , Tor Arne Johansen , Ali Akbar Jalali
关键词:
摘要: The online computational burden of linear model predictive control (MPC) can be moved offline by using multi-parametric programming, so called explicit MPC. MPC is a piecewise affine (PWA) function defined over polyhedral subdivision the set feasible states. evaluation such law needs to determine region in which current state lies. This procedure point location problem and its complexity challenging. In this paper new flexible algorithm proposed enables designer tradeoff between time storage complexities. Utilizing concept hash tables associate functions method modified solve an aggregated processing independent number regions while remains tractable. effectiveness approach supported several numerical examples.
sci-hub.se 参考文章(25)
T.A. Johansen, On multi-parametric nonlinear programming and explicit nonlinear model predictive control conference on decision and control. ,vol. 3, pp. 2768- 2773 ,(2002) , 10.1109/CDC.2002.1184260
Michal Kvasnica, Pascal Grieder, Mato Baotić, Manfred Morari, Multi-Parametric Toolbox (MPT) Hybrid Systems: Computation and Control. pp. 448- 462 ,(2004) , 10.1007/978-3-540-24743-2_30
Alexandra Grancharova, Tor A. Johansen, Approaches to explicit Nonlinear Model Predictive Control with reduced partition complexity european control conference. pp. 2414- 2419 ,(2009) , 10.23919/ECC.2009.7074767
Frank J. Christophersen, Michal Kvasnica, Colin N. Jones, Manfred Morari, Efficient evaluation of piecewise control laws defined over a large number of polyhedra european control conference. pp. 2360- 2367 ,(2007) , 10.23919/ECC.2007.7068280
M. Canale, L. Fagiano, M. Milanese, Set Membership approximation theory for fast implementation of Model Predictive Control laws Automatica. ,vol. 45, pp. 45- 54 ,(2009) , 10.1016/J.AUTOMATICA.2008.06.015
Tor A. Johansen, Approximate explicit receding horizon control of constrained nonlinear systems Automatica. ,vol. 40, pp. 293- 300 ,(2004) , 10.1016/J.AUTOMATICA.2003.09.021
Alberto Bemporad, Manfred Morari, Vivek Dua, Efstratios N. Pistikopoulos, The explicit linear quadratic regulator for constrained systems Automatica. ,vol. 38, pp. 3- 20 ,(2002) , 10.1016/S0005-1098(01)00174-1
C.N. Jones, P. Grieder, S.V. Raković, Technical communique: A logarithmic-time solution to the point location problem for parametric linear programming Automatica. ,vol. 42, pp. 2215- 2218 ,(2006) , 10.1016/J.AUTOMATICA.2006.07.010
P. Tøndel, T.A. Johansen, A. Bemporad, Technical Communique: Evaluation of piecewise affine control via binary search tree Automatica. ,vol. 39, pp. 945- 950 ,(2003) , 10.1016/S0005-1098(02)00308-4
Chengtao Wen, Xiaoyan Ma, B. Erik Ydstie, Analytical expression of explicit MPC solution via lattice piecewise-affine function Automatica. ,vol. 45, pp. 910- 917 ,(2009) , 10.1016/J.AUTOMATICA.2008.11.023