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
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;
Conference_Titel :
Control Applications (CCA), 2012 IEEE International Conference on
Conference_Location :
Dubrovnik
Print_ISBN :
978-1-4673-4503-3
Electronic_ISBN :
1085-1992
DOI :
10.1109/CCA.2012.6402730
