INVESTIGADORES
SANCHEZ REINOSO Carlos Roberto
informe técnico
Título:
Research Report
Autor/es:
SANCHEZ REINOSO, C.R.; BOYD, S.
Fecha inicio/fin:
2015-02-09/2015-06-08
Naturaleza de la
Producción Tecnológica:
Electrónica e Informática
Campo de Aplicación:
Espacio-Varios
Descripción:
A widely recognized shortcoming of model predictivecontrol (MPC) is that it can usually only be used in applications with slow dynamics, where the sample time is measured in seconds or minutes. A well-known technique for implementing fast MPC is to compute the entire control law offline, in which case the onlinecontroller can be implemented as a lookup table. This method works well for systems with small state and input dimensions (say, no more than five), few constraints, and short time horizons. In thispaper, we describe a collection of methods for improving the speed of MPC, using online optimization. These custom methods, which exploit the particular structure of the MPC problem, can computethe control action on the order of 100 times faster than a method that uses a generic optimizer.
