文章基本信息

标题：On multiparametric/explicit NMPC for Quadratically Constrained Problems ⁎
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作者：Nikolaos A. Diangelakis ; Iosif S. Pappas ; Efstratios N. Pistikopoulos 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：20
页码：400-405
DOI：10.1016/j.ifacol.2018.11.066
语种：English
出版社：Elsevier
摘要：AbstractWe present the expansion of the Basic Sensitivity Theorem to a second order Taylor approach and the implications to explicit model predictive control of quadratically constrained systems. The expansion enables the derivation of an algorithm for the analytical solution of convex multiparametric quadratically constraint programming (mpQCQP) problems and explicit quadratically constrained NMPC problems. We derive the analytical parametric expressions of the control actions for a quadratically constrained MPC problem and its corresponding critical regions. We show the piecewise non-linear form of the solution and closed-loop validation of the results.
关键词：KeywordsMultiparametric programmingquadratically constrained quadratic programmingexplicit MPC