Abstract:
Recently, several multi-parametric Nonlinear Programming approaches to explicit solution of constrained Nonlinear Model Predictive Control (NMPC) problems have been sugge...Show MoreMetadata
Abstract:
Recently, several multi-parametric Nonlinear Programming approaches to explicit solution of constrained Nonlinear Model Predictive Control (NMPC) problems have been suggested. The benefits of an explicit solution, in addition to the efficient on-line computations, include also verifiability of the implementation. However, the off-line computational complexity tends to increase rapidly with the number of states. In this paper, several approaches to reduce the off-line computational burden and the partition complexity of the explicit NMPC are proposed and illustrated with two examples.
Published in: 2009 European Control Conference (ECC)
Date of Conference: 23-26 August 2009
Date Added to IEEE Xplore: 02 April 2015
Print ISBN:978-3-9524173-9-3