An Efficient Constrained Model Predictive Control Algorithm Based on Approximate Computation

摘要

The on-line computational burden related to model predictive control (MPC) of large-scale constrained systems hampers its real-time applications and limits it to slow dynamic process with moderate number of inputs. To avoid this, an efficient and fast algorithm based on aggregation optimization is proposed in this paper. It only optimizes the current control action at time instant k, while other future control sequences in the optimization horizon are approximated off-line by the linear feedback control sequence, so the on-line optimization can be converted into a low dimensional quadratic programming problem. Input constraints can be well handled in this scheme. The comparable performance is achieved with existing standard model predictive control algorithm. Simulation results well demonstrate its effectiveness.