eprintid: 477
rev_number: 14
eprint_status: archive
userid: 7
dir: disk0/00/00/04/77
datestamp: 2011-07-27 08:35:35
lastmod: 2011-08-05 12:49:32
status_changed: 2011-07-27 08:35:35
type: book_section
metadata_visibility: show
contact_email: alberto.bemporad@imtlucca.it
item_issues_count: 0
creators_name: Borrelli, Francesco
creators_name: Baotic, Mato
creators_name: Bemporad, Alberto
creators_name: Morari, Manfred
creators_id: 
creators_id: 
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
title: Efficient on-line computation of constrained optimal control
ispublished: pub
subjects: QA75
divisions: CSA
full_text_status: none
keywords: computational complexity; constrained optimal control; discrete-time linear time-invariant systems; explicit optimal control law evaluation; initial state; input constraints; model-predictive control; multi-parametric programming;online computation; open-loop constrained finite-time optimal controller; output constraints; piecewise-affine function; sampling time; storage demands; value function; computational complexity; constraint theory; control system analysis computing; mathematical programming; online operation; predictive control; time optimal control.
abstract: For discrete-time linear time-invariant systems with constraints on inputs and outputs, the constrained finite-time optimal controller can be obtained explicitly as a piecewise-affine function of the initial state via multi-parametric programming. By exploiting the properties of the value function, we present two algorithms that efficiently perform the online evaluation of the explicit optimal control law both in terms of storage demands and computational complexity. The algorithms are particularly effective when used for model-predictive control (MPC) where an open-loop constrained finite-time optimal control problem has to be solved at each sampling time.
date: 2008
date_type: published
volume: 47
publisher: Society for Industrial and Applied Mathematics:3600 University City Science Center:Philadelphia, PA 19104:(800)447-7426, (215)382-9800, EMAIL: service@siam.org, INTERNET: http://www.siam.org, Fax: (215)386-7999
pagerange: 2470-2489
id_number: 10.1109/.2001.981046  
refereed: TRUE
isbn: 0-7803-7061-9 
book_title: Conference on Decision and Contml
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=981046&isnumber=21128
citation:   Borrelli, Francesco and Baotic, Mato and Bemporad, Alberto and Morari, Manfred  Efficient on-line computation of constrained optimal control.   In:  Conference on Decision and Contml.   Society for Industrial and Applied Mathematics:3600 University City Science Center:Philadelphia, PA 19104:(800)447-7426, (215)382-9800, EMAIL: service@siam.org, INTERNET: http://www.siam.org, Fax: (215)386-7999, pp. 2470-2489.  ISBN 0-7803-7061-9       (2008)