Title :
On multi-parametric nonlinear programming and explicit nonlinear model predictive control
Author :
Johansen, Tor A.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
A numerical algorithm for approximate multi-parametric nonlinear programming is developed. It allows approximate solutions to nonlinear optimization problems to be computed as explicit piecewise linear functions of the problem parameters. In control applications such as nonlinear constrained model predictive control this allows efficient online implementation in terms of an explicit piecewise linear state feedback without any real-time optimization.
Keywords :
feedback; nonlinear programming; optimal control; piecewise linear techniques; predictive control; approximate solutions; explicit nonlinear model predictive control; explicit piecewise linear functions; explicit piecewise linear state feedback; multi-parametric nonlinear programming; nonlinear constrained model predictive control; nonlinear optimization; numerical algorithm; problem parameters; Approximation error; Constraint optimization; Cost function; Function approximation; Optimal control; Partitioning algorithms; Piecewise linear approximation; Piecewise linear techniques; Predictive control; Predictive models;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184260
