169722
20190330063451.0
doi
10.1109/TAC.2011.2146990
0018-9286
ARTICLE
A multiresolution approximation method for fast explicit model predictive control
2011
Institute of Electrical and Electronics Engineers
2011
Journal Articles
A 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.
Summers, S.
246471
Jones, Colin
207237
Lygeros, J.
Morari, M.
56
11
2530-2541
IEEE Transactions on Automatic Control
1017596
http://infoscience.epfl.ch/record/169722/files/05755182.pdf
Publisher's version
Publisher's version
252053
LA
oai:infoscience.tind.io:169722
article
STI
GLOBAL_SET
207237
EPFL-ARTICLE-169722
EPFL
REVIEWED
PUBLISHED
ARTICLE