Tailored QP Algorithm for Predictive Control with Dynamics Penalty
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00218702" target="_blank" >RIV/68407700:21230/14:00218702 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/MED.2014.6961402" target="_blank" >http://dx.doi.org/10.1109/MED.2014.6961402</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/MED.2014.6961402" target="_blank" >10.1109/MED.2014.6961402</a>
Alternative languages
Result language
angličtina
Original language name
Tailored QP Algorithm for Predictive Control with Dynamics Penalty
Original language description
In order to reduce the computational complexity of solving Quadratic Programming (QP), related to linear Model Predictive Control (MPC), a new approximated formulation of the QP with simple bounds is introduced in this paper. This formulation is based onthe idea not to consider model dynamics as a hard constraint but rather modify the objective function of MPC by penalty to capture the violation of model dynamics.The system dynamics is usually uncertain and then it does not make sense to design the control law based on the exact model. Furthermore, the specific sparse structure of the approximated simple bounded QP formulation of the MPC problem is exploited in the new type of combined gradient/Newton step projection algorithm with linear complexity of each iteration with respect to prediction horizon. It is shown by examples that the proposed method is faster on tested problem than other state-of-the-art solvers while retaining a high performance level.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 22nd Mediterranean Conference on Control & Automation
ISBN
978-1-4799-5900-6
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
384-389
Publisher name
IEEE
Place of publication
Piscataway
Event location
Palermo
Event date
Jun 16, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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