Approximate explicit constrained linear model predictive control via orthogonal search tree
Authors:
- 13 May 2003
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 48 (5) , 810-815
Abstract
Solutions to constrained linear model predictive control problems can be precomputed off-line in an explicit form as a piecewise linear state feedback on a polyhedral partition of the state-space, avoiding real-time optimization. We suggest an algorithm that can determine an approximate explicit piecewise linear state feedback by imposing an orthogonal search tree structure on the partition. This leads to a real-time computational complexity that is logarithmic in the number of regions in the partition, and the algorithm yields guarantees on the suboptimality, asymptotic stability and constraint fulfillment.Keywords
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