Lifted Evaluation of mp-MIQP Solutions

被引：5

作者：

Fuchs, Alexander ^{[1
]}

Axehill, Daniel ^{[2
]}

Morari, Manfred ^{[3
]}

机构：

[1] ETH, Res Ctr Energy Networks, Swiss Fed Inst Technol, CH-8092 Zurich, Switzerland

[2] Linkoping Univ, Div Automat Control, S-58183 Linkoping, Sweden

[3] ETH, Automat Control Lab, Swiss Fed Inst Technol, CH-8092 Zurich, Switzerland

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2015年 / 60卷 / 12期

关键词：

Control of constrained systems; control of discrete time hybrid systems; explicit MPC; POINT LOCATION;

D O I：

10.1109/TAC.2015.2417853

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This note presents an efficient approach for the evaluation of multi-parametric mixed integer quadratic programming (mp-MIQP) solutions, occurring for instance in control problems involving discrete time hybrid systems with quadratic cost. Traditionally, the online evaluation requires a sequential comparison of piecewise quadratic value functions. We introduce a lifted parameter space in which the piecewise quadratic value functions become piecewise affine and can be merged to a single value function defined over a single polyhedral partition without any overlaps. This enables efficient point location approaches using a single binary search tree. Numerical experiments with a power electronics application demonstrate an online speedup up to an order of magnitude. We also show how the achievable online evaluation time can be traded off against the offline computational time.

引用

页码：3328 / 3331

页数：4

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