multi-parametric quadratic programming (mp-QP) is an alternative means of implementing conventional predictive control algorithms whereby one transfers much of the computational load to offline calculations. However, ...
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ISBN:
(纸本)9781424474264
multi-parametric quadratic programming (mp-QP) is an alternative means of implementing conventional predictive control algorithms whereby one transfers much of the computational load to offline calculations. However, coding and implementation of this solution may be more burdensome than simply solving the original QP. This paper shows how Laguerre functions can be used in conjunction with mp-QP to achieve a large decrease in both the online computations and data storage requirements while increasing the feasible region of the optimization problem. Extensive simulation results are given to back this claim.
In order to deal with random communication time delay in Networked Control Systems(NCS), an explicit model predictive control (eMPC) method is presented in this paper. The algorithm is based on multi-parametric quadra...
详细信息
ISBN:
(纸本)9781424487363
In order to deal with random communication time delay in Networked Control Systems(NCS), an explicit model predictive control (eMPC) method is presented in this paper. The algorithm is based on multi-parametric quadratic programming to get a state feedback control law which is explicit to the states. And based on this control law, the piecewise affine model of the closed-loop model predictive control system is established. We show that the control law is piecewise linear and continuous for the finite horizon problem. Thus, the on-line control computation reduces to the simple evaluation of a piecewise affine model. Since the algorithm does not require repeated online optimization, it improves the on-line calculation speed of the controller, making the system better in real-time. The algorithm deals with the random communication time delay well. Simulation results show the effectiveness of the proposed method.
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