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

Author

Tøndel, P. ; Johansen, T.A. ; Bemporad, A.

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway

Volume

2

fYear

2001

fDate

2001

Firstpage

1199

Abstract

Explicit solutions to constrained linear model-predictive control (MPC) 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 linear 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 in efficiency

Keywords

piecewise linear techniques; predictive control; problem solving; quadratic programming; state-space methods; constrained linear model-predictive control problems; efficiency; explicit solutions; exploration strategy; multi-parametric piecewise linear solution; multi-parametric quadratic programming algorithm; parameter space subdivision; partitioning; polyhedral state-space partition; problem solving; state vector components; Ear; Linear programming; Partitioning algorithms; Piecewise linear techniques; Predictive control; Predictive models; Problem-solving; Quadratic programming; Trajectory; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.981048

Filename

981048