Title :
Mixed-integer programming for control
Author :
Richards, Arthur ; How, Jonathan
Author_Institution :
Dept. of Aerosp. Eng., Bristol Univ., UK
Abstract :
The article describes how mixed-integer programming (MIP) can be employed for feedback control. MIP can be used to find optimal trajectories subject to integer constraints, which can encode discrete decisions or nonconvexity, for example. This optimization can be performed online within model predictive control (MPC) to implement a feedback control law. The article discusses how to model systems using MIP, the implementation as a MPC, and techniques for fast solutions of the optimizations to make them suitable for real-time use.
Keywords :
feedback; integer programming; predictive control; discrete decisions; feedback control; integer constraints; mixed-integer programming; model predictive control; nonconvexity; optimal trajectories; optimization; Aerospace control; Collision avoidance; Feedback control; Laboratories; Path planning; Predictive control; Predictive models; Real time systems; Robust stability; Unmanned aerial vehicles;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1470372
