Autor(i):
Kvasnica, M. [70%] – Holaza, J. [10%] – Takács, B. [10%] – Ingole, D. [10%]
Názov:
Design and Verification of Low-Complexity Explicit MPC Controllers in MPT3 (Extended version)
Rok:
2015
Anotácia:
This paper reviews the Multi-Parametric Toolbox 3, a new version of the easy-to-use software tool for design, verification, and implementation of optimization-based controllers. Specifically, we introduce advanced building blocks which allow to synthesize and analyze explicit representations of model predictive controllers of low real-time implementation complexity. These building blocks include, but are not limited to, integration of functions over polytopes, computational geometry operations, as well as procedures to analyze invariance and closed-loop stability. We show how to combine these building blocks as to create sophisticated algorithms which lead to well-performing, yet simple controllers which adhere to prescribed requirements. This paper is an extended version of our ECC'15 submission of the same title.

Kategória publikácie:
GAI – Správy
Oddelenie:
OIaRP
Vložil/Upravil:
Ing. Bálint Takács
Posledná úprava:
24.11.2015 10:28:09

Plný text:
1581.pdf (272.61 kB)

BIBTEX:
@miscellaneous{uiam1581,
author={Kvasnica, M. and Holaza, J. and Tak\'acs, B. and Ingole, D.},
title={Design and Verification of Low-Complexity Explicit MPC Controllers in MPT3 (Extended version)},
year={2015},
annote={This paper reviews the Multi-Parametric Toolbox 3, a new version of the easy-to-use software tool for design, verification, and implementation of optimization-based controllers. Specifically, we introduce advanced building blocks which allow to synthesize and analyze explicit representations of model predictive controllers of low real-time implementation complexity. These building blocks include, but are not limited to, integration of functions over polytopes, computational geometry operations, as well as procedures to analyze invariance and closed-loop stability. We show how to combine these building blocks as to create sophisticated algorithms which lead to well-performing, yet simple controllers which adhere to prescribed requirements. This paper is an extended version of our ECC'15 submission of the same title.},
url={http://www.kirp.chtf.stuba.sk/assets/publication_info.php?id_pub=1581}
}