Piecewise Function Evaluation Method Based on Binary Search Trees and the approach removing saturated regions in Explicit MPC

Piecewise Function Evaluation Method Based on Binary Search Trees and the approach removing saturated regions in Explicit MPC

Despite practical obstacles in implementation of explicit model predictive control (MPC), it has consistently been attractive. Complexity reduction approaches for explicit MPC has recently been emerged as techniques to enhance applicability of MPC. Individual deployment of the approaches has not had enough effect on complexity reduction. In this paper, merging the approaches based on complexity reduction is addressed. The binary search tree and complexity reduction via separation are efficient methods which can be confined to small problems, but merging them can result in significant effect and expansion of its applicability. The simulation tests show proposed approach significantly outperforms previous methods.