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Constrained model predictive control with online input parametrization
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)
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The efficiency of model predictive control can be increased by the on-line choice of a low number of degrees of freedom in the parametrization of the input trajectory. The complexity of the optimization is reduced by searching a solution in a lower dimensional subset of the full input space. This is done by division of the set of constraints in a set of active, inactive and possibly active constraints. A low dimensional subset of the full input space is constructed that complies with the
doi:10.1109/cdc.1999.827932
fatcat:bk36hboeznetnpagswtp3gm27i