A multiresolution approximation method for fast explicit model predictive control

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.


Publié dans:
IEEE Transactions on Automatic Control, 56, 11, 2530-2541
Année
2011
Publisher:
Institute of Electrical and Electronics Engineers
ISSN:
0018-9286
Laboratoires:




 Notice créée le 2011-10-24, modifiée le 2019-03-30

Publisher's version:
Télécharger le document
PDF

Évaluer ce document:

Rate this document:
1
2
3
 
(Pas encore évalué)