Title :
Structured and reduced dimension explicit linear quadratic regulators for systems with constraints
Author :
Johansen, Tor A.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
It is studied how system structure can be utilized to derive reduced dimension multi-parametric quadratic programs that lead to sub-optimal explicit piecewise linear feedback solutions to the state and input constrained LQR problem. This results in a controller of lower complexity and associated computational advantages in the online implementation. At heart of the methods are state space projections using the singular value decomposition.
Keywords :
controllers; linear quadratic control; piecewise linear techniques; singular value decomposition; state feedback; state-space methods; suboptimal control; LQR; controllers; linear feedback solutions; linear quadratic regulator; multiparametric quadratic programs; online implementation; piecewise linear solution; reduced dimension quadratic regulators; singular value decomposition; state space projection; structured linear quadratic regulators; sub optimal solution; Costs; Cybernetics; Partitioning algorithms; Piecewise linear approximation; Piecewise linear techniques; Regulators; Riccati equations; State feedback; State-space methods; Symmetric matrices;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184987
