Title :
Reduced explicit constrained linear quadratic regulators
Author :
Johansen, Tor A.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
fDate :
5/1/2003 12:00:00 AM
Abstract :
In this note, it is studied how structural properties of certain linear systems can be exploited to derive reduced dimension multiparametric quadratic programs that lead to explicit piecewise linear feedback solutions to the state and input constrained linear quadratic regulation problem. The reduced dimensionality typically results in suboptimal controllers of lower complexity, with associated computational advantages in the online implementation. At the heart of the methods are state-space projections based on the singular value decomposition.
Keywords :
computational complexity; feedback; linear quadratic control; piecewise linear techniques; singular value decomposition; state-space methods; suboptimal control; SVD; complexity; input-constrained LQ regulation problem; linear systems; piecewise linear feedback solutions; reduced dimensionality; reduced explicit constrained linear quadratic regulators; reduced-dimension multiparametric quadratic programs; singular value decomposition; state-constrained LQ regulation problem; state-space projections; structural properties; suboptimal controllers; Cost function; Heart; Linear systems; Partitioning algorithms; Piecewise linear approximation; Piecewise linear techniques; Quadratic programming; Regulators; Singular value decomposition; State feedback;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2003.811261