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Explicit MPC Based ...
Explicit MPC Based on Approximate Dynamic Programming
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- Bakarac, Peter (author)
- Slovak Univ. of Tech. in Bratislava, Slovakia
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- Holaza, Juraj (author)
- Slovak Univ. of Tech. in Bratislava, Slovakia
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- Kaluz, Martin (author)
- Slovak Univ. of Tech. in Bratislava, Slovakia
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- Klauco, Martin (author)
- Slovak Univ. of Tech. in Bratislava, Slovakia
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- Löfberg, Johan, 1974- (author)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
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- Kvasnica, Michal (author)
- Slovak Univ. of Tech. in Bratislava, Slovakia
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Slovak Univ of Tech. in Bratislava, Slovakia Reglerteknik (creator_code:org_t)
- 2018
- 2018
- English.
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In: 2018 EUROPEAN CONTROL CONFERENCE (ECC). - 9783952426982 - 9781538653036
- Related links:
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https://urn.kb.se/re...
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https://doi.org/10.2...
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Abstract
Subject headings
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- In this paper we show how to synthesize simple explicit MPC controllers based on approximate dynamic programming. Here, a given MPC optimization problem over a finite horizon is solved iteratively as a series of problems of size one. The optimal cost function of each subproblem is approximated by a quadratic function that serves as a cost-to-go function for the subsequent iteration. The approximation is designed in such a way that closed-loop stability and recursive feasibility is maintained. Specifically, we show how to employ sum-of-squares relaxations to enforce that the approximate cost-to-go function is bounded from below and from above for all points of its domain. By resorting to quadratic approximations, the complexity of the resulting explicit MPC controller is considerably reduced both in terms of memory as well as the on-line computations. The procedure is applied to control an inverted pendulum and experimental data are presented to demonstrate viability of such an approach.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Publication and Content Type
- ref (subject category)
- kon (subject category)
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