Explicit model predictive control via Delaunay tessellations

Abstract : Solutions to Model Predictive Control (MPC) problems can be given in an explicit form as piecewise affine (PWA) state feedback laws over a polyhedral partition of the feasible set, avoiding the online optimization. In this paper we propose a technique to compute an approximate PWA MPC law that is suboptimal only over the subregion of the feasible set where constraints are active. In this subregion, the problem of computing a suitable suboptimal PWA control law is related to an important problem in computer aided geometric design: surface reconstruction. The technique is based on a fundamental structure in computational geometry theory, Delaunay tessellation, which have been particularly successful in dealing with the surface reconstruction problem.
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Submitted on : Monday, November 12, 2012 - 5:01:58 PM
Last modification on : Tuesday, September 18, 2018 - 1:02:07 AM

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F. Scibilia, Morten Hovd, Sorin Olaru. Explicit model predictive control via Delaunay tessellations. Journal Européen des Systèmes Automatisés (JESA), Lavoisier, 2012, 46 (2-3), pp.267-290. ⟨10.3166/jesa.46.267-290⟩. ⟨hal-00750942⟩

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