The paper provides a geometric interpretation for the explicit solution of the quadratic cost, linear-constrained MPC (model predictive control) problem. We link the face lattice of the lifted feasible domain (defined...
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The paper provides a geometric interpretation for the explicit solution of the quadratic cost, linear-constrained MPC (model predictive control) problem. We link the face lattice of the lifted feasible domain (defined in the input and parameter space) with the critical regions which partition the parameter space and serve as polyhedral support for the piecewise affine explicit MPC solution. We provide geometric (face visibility) and algebraic (polyhedron emptiness) tests for the pruning of the candidate sets of active constraints. Copyright (C) 2022 The Authors.
The paper provides a geometric interpretation for the explicit solution of the quadratic cost, linear-constrained MPC (model predictive control) problem. We link the face lattice of the lifted feasible domain (defined...
详细信息
The paper provides a geometric interpretation for the explicit solution of the quadratic cost, linear-constrained MPC (model predictive control) problem. We link the face lattice of the lifted feasible domain (defined in the input and parameter space) with the critical regions which partition the parameter space and serve as polyhedral support for the piecewise affine explicit MPC solution. We provide geometric (face visibility) and algebraic (polyhedron emptiness) tests for the pruning of the candidate sets of active constraints.
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