Structured and reduced dimension explicit linear quadratic regulators for systems with constraints

Author

Johansen, Tor A.

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway

Volume

4

fYear

2002

fDate

10-13 Dec. 2002

Firstpage

3970

Abstract

It is studied how system structure can be utilized to derive reduced dimension multi-parametric quadratic programs that lead to sub-optimal explicit piecewise linear feedback solutions to the state and input constrained LQR problem. This results in a controller of lower complexity and associated computational advantages in the online implementation. At heart of the methods are state space projections using the singular value decomposition.

Keywords

controllers; linear quadratic control; piecewise linear techniques; singular value decomposition; state feedback; state-space methods; suboptimal control; LQR; controllers; linear feedback solutions; linear quadratic regulator; multiparametric quadratic programs; online implementation; piecewise linear solution; reduced dimension quadratic regulators; singular value decomposition; state space projection; structured linear quadratic regulators; sub optimal solution; Costs; Cybernetics; Partitioning algorithms; Piecewise linear approximation; Piecewise linear techniques; Regulators; Riccati equations; State feedback; State-space methods; Symmetric matrices;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7516-5

Type

conf

DOI

10.1109/CDC.2002.1184987

Filename

1184987