Offline Tube Design for Efficient Implementation of Parameterized Tube Model Predictive Control
Recently introduced parameterized tube model predictive control (PTMPC) supersedes the robust model predictive control (RMPC) using the affine in the past disturbances control policy, and is, in certain cases, equivalent to RMPC utilizing dynamic programming. PTMPC online implementation reduces to a...
| المؤلفون الرئيسيون: | , , , , |
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| التنسيق: | Conference item |
| منشور في: |
2012
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| _version_ | 1826262998342172672 |
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| author | Rakovic, S Munoz-Carpintero, D Cannon, M Kouvaritakis, B IEEE |
| author_facet | Rakovic, S Munoz-Carpintero, D Cannon, M Kouvaritakis, B IEEE |
| author_sort | Rakovic, S |
| collection | OXFORD |
| description | Recently introduced parameterized tube model predictive control (PTMPC) supersedes the robust model predictive control (RMPC) using the affine in the past disturbances control policy, and is, in certain cases, equivalent to RMPC utilizing dynamic programming. PTMPC online implementation reduces to a standard convex optimization for which the numbers of the decision variables and equality and inequality constraints grow quadratically with respect to the prediction horizon N. This paper considers the reduction of computational complexity to linear growth by allowing a part of the computation to be performed offline. The suggested offline simplifications preserve, to a high degree, the desirable system theoretic properties associated with PTMPC. © 2012 IEEE. |
| first_indexed | 2024-03-06T19:44:42Z |
| format | Conference item |
| id | oxford-uuid:21e1588c-d9d7-4294-816c-ca898092e084 |
| institution | University of Oxford |
| last_indexed | 2024-03-06T19:44:42Z |
| publishDate | 2012 |
| record_format | dspace |
| spelling | oxford-uuid:21e1588c-d9d7-4294-816c-ca898092e0842022-03-26T11:35:50ZOffline Tube Design for Efficient Implementation of Parameterized Tube Model Predictive ControlConference itemhttp://purl.org/coar/resource_type/c_5794uuid:21e1588c-d9d7-4294-816c-ca898092e084Symplectic Elements at Oxford2012Rakovic, SMunoz-Carpintero, DCannon, MKouvaritakis, BIEEERecently introduced parameterized tube model predictive control (PTMPC) supersedes the robust model predictive control (RMPC) using the affine in the past disturbances control policy, and is, in certain cases, equivalent to RMPC utilizing dynamic programming. PTMPC online implementation reduces to a standard convex optimization for which the numbers of the decision variables and equality and inequality constraints grow quadratically with respect to the prediction horizon N. This paper considers the reduction of computational complexity to linear growth by allowing a part of the computation to be performed offline. The suggested offline simplifications preserve, to a high degree, the desirable system theoretic properties associated with PTMPC. © 2012 IEEE. |
| spellingShingle | Rakovic, S Munoz-Carpintero, D Cannon, M Kouvaritakis, B IEEE Offline Tube Design for Efficient Implementation of Parameterized Tube Model Predictive Control |
| title | Offline Tube Design for Efficient Implementation of Parameterized Tube Model Predictive Control |
| title_full | Offline Tube Design for Efficient Implementation of Parameterized Tube Model Predictive Control |
| title_fullStr | Offline Tube Design for Efficient Implementation of Parameterized Tube Model Predictive Control |
| title_full_unstemmed | Offline Tube Design for Efficient Implementation of Parameterized Tube Model Predictive Control |
| title_short | Offline Tube Design for Efficient Implementation of Parameterized Tube Model Predictive Control |
| title_sort | offline tube design for efficient implementation of parameterized tube model predictive control |
| work_keys_str_mv | AT rakovics offlinetubedesignforefficientimplementationofparameterizedtubemodelpredictivecontrol AT munozcarpinterod offlinetubedesignforefficientimplementationofparameterizedtubemodelpredictivecontrol AT cannonm offlinetubedesignforefficientimplementationofparameterizedtubemodelpredictivecontrol AT kouvaritakisb offlinetubedesignforefficientimplementationofparameterizedtubemodelpredictivecontrol AT ieee offlinetubedesignforefficientimplementationofparameterizedtubemodelpredictivecontrol |