Explicit predictive control laws. On the geometry of feasible domains and the presence of nonlinearities.

Sorin Olaru (1) , Didier Dumur (1) , Simona Dobre (2)

1 SUPELEC-Campus Gif
2 CRAN - Centre de Recherche en Automatique de Nancy

This paper is dealing with the receding horizon optimal control techniques having as main goal the reduction of the computational effort inherent to the use of on-line optimization routines. The off-line construction of the explicit solution for the associated multiparametric optimization problems is advocated with a special interest in the presence of nonlinearities in the constraints description. The proposed approach is a geometrical one, based on the topology of the feasible domain. The resulting piecewise linear state feedback control law has to accept a certain degree of suboptimality, as it is the case for local linearizations or decompositions over families of parametric functions. In the presented techniques, this is directly related to the distribution of the extreme points on the frontier of the feasible domain.

Keywords: Predictive control; parameterized polyhedra; explicit control laws

Domains: Automatic

Sorin Olaru, Didier Dumur, Simona Dobre. Explicit predictive control laws. On the geometry of feasible domains and the presence of nonlinearities.. 4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007, May 2007, Angers, France. pp.70-77. ⟨hal-00168601⟩