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Erschienen in:
The Essentials of Model Predictive Control Kapitel lesen Erstes Kapitel lesen

2019 | OriginalPaper | Buchkapitel

Real-Time Implementation of Explicit Model Predictive Control

verfasst von : Michal Kvasnica, Colin N. Jones, Ivan Pejcic, Juraj Holaza, Milan Korda, Peter Bakaráč

Erschienen in: Handbook of Model Predictive Control

Verlag: Springer International Publishing

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Abstract

This chapter explains the synthesis of explicit MPC feedback laws that allow for real-time implementation on hardware with limited computational and storage properties. Four methods are introduced. The first one replaces the potentially complex explicit MPC controller by a simpler feedback law by exploiting the geometry of explicit solutions. The second method reduces the storage footprint of explicit MPC by a complete elimination of critical regions, replaced by a direct evaluation of optimality conditions. The common denominator of both methods is that they preserve optimality while considerably reducing the complexity. The third method trades lower complexity for suboptimality while simultaneously minimizing the performance loss. Finally, a method for designing stabilizing explicit MPC controllers for control of nonlinear systems is introduced.

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Vorheriges Kapitel Explicit (Offline) Optimization for MPC
Nächstes Kapitel Robust Optimization for MPC
Fußnoten
1
If \(G_{\mathcal{A}}\) does not have a full row rank, it is always possible to identify a subset of \(\mathcal{A}\) such that all rows of \(G_{\mathcal{A}}\) are linearly independent, see, e.g., [37].
 
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Metadaten
Titel
Real-Time Implementation of Explicit Model Predictive Control
verfasst von
Michal Kvasnica
Colin N. Jones
Ivan Pejcic
Juraj Holaza
Milan Korda
Peter Bakaráč
Copyright-Jahr
2019
Buch
Handbook of Model Predictive Control

Print ISBN: 978-3-319-77488-6

Electronic ISBN: 978-3-319-77489-3

Copyright-Jahr: 2019

DOI
https://doi.org/10.1007/978-3-319-77489-3_17

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