The double description method for the approximation of explicit MPC control laws
Publications associées (54)
Graph Chatbot
Chattez avec Graph Search
Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.
AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.
We provide necessary optimality conditions for a general class of discounted infinite-horizon dynamic optimization problems. As part of the resulting maximum principle we obtain explicit bounds on the adjoint variable, stronger than the transversality cond ...
We present a new approach in the study of aorto-coronaric bypass anastomoses configurations based on small perturbation theory. The theory of optimal control based on adjoint formulation is applied in order to optimize the shape of the zone of the incoming ...
The E-star algorithm is a path planning method capable of dynamic replanning and user-configurable path cost interpolation. It calculates a navigation function as a sampling of an underlying smooth goal distance that takes into account a continuous notion ...
Based on the theory of approximation, this paper presents a unified analysis of interpolation and resampling techniques. An important issue is the choice of adequate basis functions. We show that, contrary to the common belief, those that perform best are ...
Parametric programming has received a lot of attention in the control literature in the past few years because model predictive controllers (MPC) can be posed in a parametric framework and hence pro-solved offline, resulting in a significant decrease in on ...
The optimiser of a (multi) parametric linear program (pLP) is a piecewise affine function defined over a polyhedral subdivision of the set of feasible states. Once this affine function has been pre-calculated, the optimal solution can be computed for a par ...
Closed-form Model Predictive Control (MPC) results in a polytopic subdivision of the set of feasible states, where each region is associated with an affine control law. Solving the MPC problem on-line then requires determining which region contains the cur ...
We present a simple, original method to improve piecewise linear interpolation with uniform knots: We shift the sampling knots by a fixed amount, while enforcing the interpolation property. Thanks to a theoretical analysis, we determine the optimal shift t ...
Method of interpolating digital samples (fN, fn) using interpolation functions ( psi , psi (x-x0)) that are shifted by an arbitrary shift value (x0) relative to said samples (fN, fn). It will be shown that there is a non-zero and non-trivial optimal value ...
The adoption of stricter effluent requirements by the European Union rises large problems for small communities having few economical and technical resources. These problems motivate the synthesis of advanced optimisation-based controllers in order to enha ...
Institut National Polytechnique de Lorraine (INPL)2001