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An algorithm for multi-parameffic quadratic programming and explicit MPC solutions
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DOI：10.1016/S0005-1098(02)00250-9.png)
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摘要
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Explicit solutions to constrained linear model predictive control problems can be obtained by solving multi-parametric quadratic programs (mp-QP) where the parameters are the components of the state vector. We study the properties of the polyhedral partition of the state space induced by the multi-parametric piecewise affine solution and propose a new mp-QP solver. Compared to existing algorithms, our approach adopts a different exploration strategy for subdividing the parameter space, avoiding unnecessary partitioning and QP problem solving, with a significant improvement of efficiency. (C) 2002 Elsevier Science Ltd. All rights reserved.
Keyword:
linear quadratic regulators
piecewise linear controllers
constraints
predictive control
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期刊
IF:
5.9
论文数:
1.2W
被引数:
5.2W
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