Fast Model Predictive Control Combining Offline Method and Online Optimization with K-D Tree. (26th August 2015)

• Record Type: Journal Article
• Authors: Ding, Yi; Xu, Zuhua; Zhao, Jun; Shao, Zhijiang
• Other Names: Loiseau Jean J. Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2015(2015)
• Publication Date: 2015-08-26
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2015/982041
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : Computation time is the main factor that limits the application of model predictive control (MPC). This paper presents a fast model predictive control algorithm that combines offline method and online optimization to solve the MPC problem. The offline method uses a k-d tree instead of a table to implement partial enumeration, which accelerates online searching operation. Only a part of the explicit solution is stored in the k-d tree for online searching, and the k-d tree is updated in runtime to accommodate the change in the operating point. Online optimization is invoked when searching on the k-d tree fails. Numerical experiments show that the proposed algorithm is efficient on both small-scale and large-scale processes. The average speedup factor in the large-scale process is at least 6, the worst-case speedup factor is at least 2, and the performance is less than 0.05% suboptimal.