Complexity Reduction in Explicit Linear Model Predictive Control

Tøndel, P.; Johansen, Tor Arne

doi:10.3182/20020721-6-es-1901.00600

Cited by 72 publications

(50 citation statements)

References 14 publications

(27 reference statements)

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“…These researchers suggested an orthogonal searching tree with will only partially solve the QPs, which -will terminate with a continuous piecewise linear (PWL) function that is an approximation to the continuous PWL exact solution‖ (Johansen and Grancharova, 2003). The block MPC method as mentioned in (Tøndel and Johansen, 2002) can also be combined to further decrease the searching effort. To further narrow down the online searching, (Pannocchia, et al, 2007) proposed a partial enumeration approach, where only relevant critical regions are calculated and stored in the memory.…”

Section: Approximate Methods Based Empcmentioning

confidence: 99%

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1-Bit processing based model predictive control for fractionated satellite missions

Bai

2014

Acta Astronautica

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In this thesis, a 1-bit processing based Model Predictive Control (OBMPC) structure is proposed for a fractionated satellite attitude control mission. Despite the appealing advantages of the MPC algorithm towards constrained MIMO control applications, implementing the MPC algorithm onboard a small satellite is certainly challenging due to the limited onboard resources. The proposed design is based on the 1-bit processing concept, which takes advantage of the affine relation between the 1-bit state feedback and multi-bit parameters to implement a multiplier free MPC controller.As multipliers are the major power consumer in online optimization, the OBMPC structure is proven to be more efficient in comparison to the conventional MPC implementation in term of power and circuit complexity. The system is in digital control nature, affected by quantization noise introduced by Δ∑ modulators. The stability issues and practical design criteria are also discussed in this work.Some other aspects are considered in this work to complete the control system. Firstly, the implementation of the OBMPC system relies on the 1-bit state feedbacks. Hence, 1-bit sensing components are needed to implement the OBMPC system. While the ∆∑ modulator based Microelectromechanical systems (MEMS) gyroscope is considered in this work, it is possible to implement this concept into other sensing components.Secondly, as the proposed attitude mission is based on the wireless inter-satellite link (ISL), a state estimator is required. However, conventional state estimators will once again introduce multi-bit signals, and compromise the simple, direct implementation of the OBMPC controller. Therefore, the 1-bit state estimator is also designed in this work to satisfy the requirements of the proposed fractionated attitude control mission.The simulation for the OBMPC is based on a 2U CubeSat model in a fractionated satellite structure, in which the payload and actuators are separated from the controller and controlled via the ISL. Matlab simulations and FPGA implementation based performance analysis shows that the OBMPC is feasible for fractionated satellite missions and is advantageous over the conventional MPC controllers. V VI

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Section: Approximate Methods Based Empcmentioning

confidence: 99%

“…The most notable work on this subject include studies of the EMPC method proposed in (Bemporad, et al, 2002) and (Tøndel and Johansen, 2002). Such a method solves all the possible solutions raised in the QP problem beforehand by solving a multi-parametric QP (mpQP) problem.…”

Section: Explicit Mpc (Empc)mentioning

confidence: 99%

1-Bit processing based model predictive control for fractionated satellite missions

Bai

2014

Acta Astronautica

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“…The complexity is further reduced by implementing control input trajectory parameterization as it is described in [13]. The idea is to use an input trajectory parameterization with less degrees of freedom in order to reduce the dimension of the optimization problem.…”

Section: Approximate Mp-qp Algorithmmentioning

confidence: 99%

“…A linearized model can be obtained from the existing non-linear model: In order to avoid the steady state offset of the model predictive controller, two more states are added to the model (13), which take into account the integral error: 4 Real-time performance of explicit model predictive controller for the gas-liquid separation plant…”

Section: Model Of the Gas-liquid Separation Plantmentioning

confidence: 99%

Explicit model predictive control of gas–liquid separation plant via orthogonal search tree partitioning

Grancharova

Johansen

Kocijan

2004

Computers & Chemical Engineering

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Exact or approximate solutions to constrained linear model predictive control problems can be pre-computed off-line in an explicit form as a piecewise linear state feedback defined on a polyhedral partition of the state space. This leads to efficient real-time computations and admits implementation at high sampling frequencies in real-time systems with high reliability and low software complexity. In this paper, an explicit model predictive controller for a gas-liquid separation plant is designed and experimentally tested.

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“…In order to deal with this issue, it is common practice to reduce the degrees of freedom by fixing the input or its derivatives to be constant over several time-steps (e.g. [8], [9]). Although this alleviates the computational restrictions, the resulting control policies do not guarantee stability or constraint satisfaction.…”

Section: Introductionmentioning

confidence: 99%

Move blocking strategies in receding horizon control

Cagienard

Grieder

Kerrigan

et al. 2007

Journal of Process Control

243

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Abstract-In order to deal with the computational burden of optimal control, it is common practice to reduce the degrees of freedom by fixing the input or its derivatives to be constant over several time-steps. This policy is referred to as "move blocking". This paper will address two issues. First, a survey of various move blocking strategies is presented and the shortcomings of these blocking policies, such as the lack of stability and constraint satisfaction guarantees, will be illustrated. Second, a novel move blocking scheme, "Moving Window Blocking" (MWB), will be presented. In MWB, the blocking strategy is time-dependent such that the scheme yields stability and feasibility guarantees for the closed-loop system. Finally, the results of a large case-study are presented that illustrate the advantages and drawbacks of the various control strategies discussed in this paper.

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Complexity Reduction in Explicit Linear Model Predictive Control

Cited by 72 publications

References 14 publications

1-Bit processing based model predictive control for fractionated satellite missions

1-Bit processing based model predictive control for fractionated satellite missions

Explicit model predictive control of gas–liquid separation plant via orthogonal search tree partitioning

Move blocking strategies in receding horizon control

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