000169722 001__ 169722
000169722 005__ 20190330063451.0
000169722 0247_ $$2doi$$a10.1109/TAC.2011.2146990
000169722 022__ $$a0018-9286
000169722 037__ $$aARTICLE
000169722 245__ $$aA multiresolution approximation method for fast explicit model predictive control
000169722 269__ $$a2011
000169722 260__ $$bInstitute of Electrical and Electronics Engineers$$c2011
000169722 336__ $$aJournal Articles
000169722 520__ $$aA model predictive control law is given by the solution to a parametric optimization problem that can be pre- computed offline and provides an explicit map from state to control input. In this paper, an algorithm is introduced based on wavelet multiresolution analysis that returns a low complexity explicit model predictive control law built on a hierarchy of second order interpolets. The resulting interpolation is shown to be everywhere feasible and continuous. Further, tests to confirm stability and to compute a bound on the performance loss are introduced. Since the controller approximation is built on a grid hierarchy, convergence to a stabilizing control law is guaranteed and the evaluation of the control law in real-time systems is naturally fast and runs in a bounded logarithmic time. Two examples are provided; A two-dimensional example with an evaluation speed of 31 ns and a four-dimensional example with an evaluation speed of 119 ns.
000169722 700__ $$aSummers, S.
000169722 700__ $$0246471$$g207237$$aJones, Colin
000169722 700__ $$aLygeros, J.
000169722 700__ $$aMorari, M.
000169722 773__ $$tIEEE Transactions on Automatic Control$$j56$$k11$$q2530-2541
000169722 8564_ $$uhttps://infoscience.epfl.ch/record/169722/files/05755182.pdf$$zPublisher's version$$s1017596$$yPublisher's version
000169722 909C0 $$0252053$$pLA
000169722 909CO $$particle$$ooai:infoscience.tind.io:169722$$qGLOBAL_SET$$pSTI
000169722 917Z8 $$x207237
000169722 937__ $$aEPFL-ARTICLE-169722
000169722 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000169722 980__ $$aARTICLE