Details

Autor(en) / Beteiligte

• Summers, S.
• Jones, C. N.
• Lygeros, J.
• Morari, M.

Titel

A Multiresolution Approximation Method for Fast Explicit Model Predictive Control

Ist Teil von

• IEEE transactions on automatic control, 2011-11, Vol.56 (11), p.2530-2541

Ort / Verlag

New York, NY: IEEE

Erscheinungsjahr

2011

Quelle

IEL

Beschreibungen/Notizen

• A model predictive control law is given by the solution to a parametric optimization problem that can be pre-computed offline and provides an explicit map from state to control input. In this paper, an algorithm is introduced based on wavelet multiresolution analysis that returns a low complexity explicit model predictive control law built on a hierarchy of second-order interpolets. The resulting interpolation is shown to be everywhere feasible and continuous. Further, tests to confirm stability and to compute a bound on the performance loss are introduced. Since the controller approximation is built on a grid hierarchy, convergence to a stabilizing control law is guaranteed and the evaluation of the control law in real-time systems is naturally fast and runs in a bounded logarithmic time. Two examples are provided; A two-dimensional example with an evaluation speed of 31 ns and a four-dimensional example with an evaluation speed of 119 ns.