An algorithm for multi-parametric quadratic programming and explicit MPC solutions
نویسندگان
چکیده
Explicit solutions to constrained linear MPC problems can be obtained by solving multi-parametric quadratic programs (mp-QP) where the parameters are the components of the state vector. We study the properties of the polyhedral partition of the state-space induced by the multiparametric piecewise linear solution and propose a new mp-QP solver. Compared to existing algorithms, our approach adopts a different exploration strategy for subdividing the parameter space, avoiding unnecessary partitioning and QP problem solving, with a significant improvement of efficiency.
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عنوان ژورنال:
- Automatica
دوره 39 شماره
صفحات -
تاریخ انتشار 2003