Theory of linear and integer programming
Theory of linear and integer programming
The explicit linear quadratic regulator for constrained systems
Automatica (Journal of IFAC)
Brief An algorithm for multi-parametric quadratic programming and explicit MPC solutions
Automatica (Journal of IFAC)
LQ control for constrained continuous-time systems
Automatica (Journal of IFAC)
Dynamic programming for constrained optimal control of discrete-time linear hybrid systems
Automatica (Journal of IFAC)
Design of robust model-based controllers via parametric programming
Automatica (Journal of IFAC)
Characterization of the solution to a constrained H∞ optimal control problem
Automatica (Journal of IFAC)
An algorithm for robust explicit/multi-parametric model predictive control
Automatica (Journal of IFAC)
Hi-index | 22.15 |
This work presents a new algorithm for solving the explicit/multi-parametric model predictive control (or mp-MPC) problem for linear, time-invariant discrete-time systems, based on dynamic programming and multi-parametric programming techniques. The algorithm features two key steps: (i) a dynamic programming step, in which the mp-MPC problem is decomposed into a set of smaller subproblems in which only the current control, state variables, and constraints are considered, and (ii) a multi-parametric programming step, in which each subproblem is solved as a convex multi-parametric programming problem, to derive the control variables as an explicit function of the states. The key feature of the proposed method is that it overcomes potential limitations of previous methods for solving multi-parametric programming problems with dynamic programming, such as the need for global optimization for each subproblem of the dynamic programming step.