General interpolation in MPC and its advantages
Linear terminal control laws In model predictive control imply the need to compromise between performance and size of terminal region. A remedy allows the control law to vary with time, but requires very large online computation. Here, use is made of nonlinear terminal laws comprising an interpolati...
| Main Authors: | , , , |
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| Formato: | Journal article |
| Idioma: | English |
| Publicado em: |
2003
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| _version_ | 1826290003095846912 |
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| author | Bacic, M Cannon, M Lee, Y Kouvaritakis, B |
| author_facet | Bacic, M Cannon, M Lee, Y Kouvaritakis, B |
| author_sort | Bacic, M |
| collection | OXFORD |
| description | Linear terminal control laws In model predictive control imply the need to compromise between performance and size of terminal region. A remedy allows the control law to vary with time, but requires very large online computation. Here, use is made of nonlinear terminal laws comprising an interpolation between predefined laws, each with its own precomputed terminal set. This reduces the online computation significantly, yet results in large terminal sets defined by the convex hull of invariant ellipsoids. The use of a different prediction class also produces significant benefits with respect to performance. |
| first_indexed | 2024-03-07T02:37:32Z |
| format | Journal article |
| id | oxford-uuid:a94b1ac1-2bad-4ba7-b6bc-2930996e0e7c |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-07T02:37:32Z |
| publishDate | 2003 |
| record_format | dspace |
| spelling | oxford-uuid:a94b1ac1-2bad-4ba7-b6bc-2930996e0e7c2022-03-27T03:07:26ZGeneral interpolation in MPC and its advantagesJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:a94b1ac1-2bad-4ba7-b6bc-2930996e0e7cEnglishSymplectic Elements at Oxford2003Bacic, MCannon, MLee, YKouvaritakis, BLinear terminal control laws In model predictive control imply the need to compromise between performance and size of terminal region. A remedy allows the control law to vary with time, but requires very large online computation. Here, use is made of nonlinear terminal laws comprising an interpolation between predefined laws, each with its own precomputed terminal set. This reduces the online computation significantly, yet results in large terminal sets defined by the convex hull of invariant ellipsoids. The use of a different prediction class also produces significant benefits with respect to performance. |
| spellingShingle | Bacic, M Cannon, M Lee, Y Kouvaritakis, B General interpolation in MPC and its advantages |
| title | General interpolation in MPC and its advantages |
| title_full | General interpolation in MPC and its advantages |
| title_fullStr | General interpolation in MPC and its advantages |
| title_full_unstemmed | General interpolation in MPC and its advantages |
| title_short | General interpolation in MPC and its advantages |
| title_sort | general interpolation in mpc and its advantages |
| work_keys_str_mv | AT bacicm generalinterpolationinmpcanditsadvantages AT cannonm generalinterpolationinmpcanditsadvantages AT leey generalinterpolationinmpcanditsadvantages AT kouvaritakisb generalinterpolationinmpcanditsadvantages |