| Autor: |
John Lygeros, Davide M. Raimondo, Sean Summers, Manfred Morari, Colin N. Jones |
| Rok vydání: |
2010 |
| Předmět: |
|
| Zdroj: |
IFAC Proceedings Volumes. 43:533-538 |
| ISSN: |
1474-6670 |
| DOI: |
10.3182/20100901-3-it-2016.00275 |
| Popis: |
In this paper an algorithm for nonlinear explicit model predictive control is introduced based on multiresolution function approximation that returns a low complexity approximate receding horizon control law built on a hierarchy of second order interpolets. Feasibility and stability guarantees for the approximate control law are given using reachability analysis, where interval methods are used to construct a capture basin (feasible region). A constructive algorithm is provided that combines adaptive function approximation with interval methods to build a receding horizon control law that is suboptimal, yet with a region of guaranteed feasibility and stability. The resulting control law is built on a grid hierarchy that is fast to evaluate in real-time systems. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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