Fast QP Algorithm for Dynamic Penalty Model Predictive Control

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Fast QP Algorithm for Dynamic Penalty Model Predictive Control

Popis výsledku v původním jazyce

In order to reduce the computational complexity of solving quadratic programs related to box constrained linear Model Predictive Control (MPC) the new approximation of MPC is introduced in this paper which enables utilization of the MPC specific structure. This approximation is based on idea not to consider the model dynamics as hard constraint but rather modify the objective function of MPC to capture the violation of not fulfilling the model dynamics, since also the system dynamics is usually uncertain and then it does not make sense to control exactly based on the model. Furthermore, the specific sparse structure of the approximated box constrained MPC problem is exploited in the computation of gradient and Newton step in the combination of gradient/Newton step projection algorithm. It is shown by an example that the proposed method is faster or competitive to other state of the art solver while retaining a high performance level.

Název v anglickém jazyce

Fast QP Algorithm for Dynamic Penalty Model Predictive Control

Popis výsledku anglicky

In order to reduce the computational complexity of solving quadratic programs related to box constrained linear Model Predictive Control (MPC) the new approximation of MPC is introduced in this paper which enables utilization of the MPC specific structure. This approximation is based on idea not to consider the model dynamics as hard constraint but rather modify the objective function of MPC to capture the violation of not fulfilling the model dynamics, since also the system dynamics is usually uncertain and then it does not make sense to control exactly based on the model. Furthermore, the specific sparse structure of the approximated box constrained MPC problem is exploited in the computation of gradient and Newton step in the combination of gradient/Newton step projection algorithm. It is shown by an example that the proposed method is faster or competitive to other state of the art solver while retaining a high performance level.

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

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Projekt

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Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

POSTER 2013 - 17th International Student Conference on Electrical Engineering

ISBN

978-80-01-05242-6

ISSN

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e-ISSN

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Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

Czech Technical University

Místo vydání

Prague

Místo konání akce

Prague

Datum konání akce

16. 5. 2013

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

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