DocumentCode
2832896
Title
Efficient solution of a qp optimization problem with zonotopic constraints
Author
Stoican, Florin ; Hovd, Morten
Author_Institution
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol. (NTNU), Trondheim, Norway
fYear
2012
fDate
3-5 Oct. 2012
Firstpage
457
Lastpage
462
Abstract
In this paper we analyze the advantages of describing the constraint set of a constrained optimization problem by an (inner-approximating) zonotope. We compare this with the usual polytopic description and note that by using the generator description characterizing zonotopes we can exploit their special structure in order to obtain a simpler formulation of the optimization problem. We test the results on a typical MPC setting and observe the improvements.
Keywords
approximation theory; computational geometry; predictive control; quadratic programming; set theory; MPC setting; constrained optimization problem; constraint set; generator description characterizing zonotopes; inner-approximating zonotope; polytopic description; qp optimization problem; zonotopic constraints; Approximation methods; Complexity theory; Cost function; Generators; Linear matrix inequalities; Robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications (CCA), 2012 IEEE International Conference on
Conference_Location
Dubrovnik
ISSN
1085-1992
Print_ISBN
978-1-4673-4503-3
Electronic_ISBN
1085-1992
Type
conf
DOI
10.1109/CCA.2012.6402730
Filename
6402730
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