An algorithm for multi-parameffic quadratic programming and explicit MPC solutions

被引：391

作者：

Tondel, P ^{[1
]}

Johansen, TA

Bemporad, A

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

[2] Univ Siena, Dipartimento Ingn Informaz, I-53100 Siena, Italy

来源：

AUTOMATICA | 2003年 / 39卷 / 03期

关键词：

linear quadratic regulators; piecewise linear controllers; constraints; predictive control;

D O I：

10.1016/S0005-1098(02)00250-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：489 / 497

页数：9

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