Accelerating MPC by online detection of state space sets with common optimal feedback laws
Kai König,
Martin Mönnigmann
Abstract:Model predictive control (MPC) samples a generally unknown and complicated feedback law point by point. The solution for the current state x contains, however, more information than only the optimal signal u for this particular state. In fact, it provides an optimal affine feedback law x Ñ upxq on a polytope Π Ă R n , i.e., on a full-dimensional state space set. It is an obvious idea to reuse this affine feedback law as long as possible. Reusing it on its polytope Π is too conservative, however, because any Π … Show more
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