Title :
Computation and approximation of piecewise affine control laws via binary search trees
Author :
Tondel, P. ; Johansen, T.A. ; Bemporad, A.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
We present an algorithm for generating a binary search tree that allows efficient computation of piecewise affine (PWA) functions defined on a polyhedral partition. This is useful for PWA control approaches, such as explicit model predictive control (MPC), as it allows the controller to be implemented on-line with small computational effort. The computation time is logarithmic in the number of regions in the PWA partition. A method for generating an approximate PWA function based on a binary search tree is also presented, giving further simplification of PWA control.
Keywords :
computational complexity; functions; linear programming; linear systems; predictive control; tree searching; approximate function; binary search trees; explicit model predictive control; piecewise affine control laws; polyhedral partition; Binary search trees; Data structures; Partitioning algorithms; Predictive control; Predictive models; Quadratic programming; Robustness; Sampling methods; State feedback; State-space methods;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184353
