Efficient MPC optimization using Pontryagin's Minimum Principle

A method of solving the online optimization in model predictive control (MPC) of input-constrained linear systems is described. Using Pontryagin's Minimum Principle, the matrix factorizations performed by general purpose quadratic programming (QP) solvers are replaced by recursions of state and...

詳細記述

書誌詳細
主要な著者: Cannon, M, Liao, W, Kouvaritakis, B, IEEE
フォーマット: Conference item
出版事項: 2006