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Approximate explicit constrained linear model predictive control via orthogonal search tree

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2 Author(s)
Johansen, T.A. ; Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway ; Grancharova, A.

Solutions to constrained linear model predictive control problems can be precomputed off-line in an explicit form as a piecewise linear state feedback on a polyhedral partition of the state-space, avoiding real-time optimization. We suggest an algorithm that can determine an approximate explicit piecewise linear state feedback by imposing an orthogonal search tree structure on the partition. This leads to a real-time computational complexity that is logarithmic in the number of regions in the partition, and the algorithm yields guarantees on the suboptimality, asymptotic stability and constraint fulfillment.

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Automatic Control, IEEE Transactions on  (Volume:48 ,  Issue: 5 )