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Fast Model Predictive Control Combining Offline Method and Online Optimization with K-D Tree

Author

Listed:
  • Yi Ding
  • Zuhua Xu
  • Jun Zhao
  • Zhijiang Shao

Abstract

Computation time is the main factor that limits the application of model predictive control (MPC). This paper presents a fast model predictive control algorithm that combines offline method and online optimization to solve the MPC problem. The offline method uses a k-d tree instead of a table to implement partial enumeration, which accelerates online searching operation. Only a part of the explicit solution is stored in the k-d tree for online searching, and the k-d tree is updated in runtime to accommodate the change in the operating point. Online optimization is invoked when searching on the k-d tree fails. Numerical experiments show that the proposed algorithm is efficient on both small-scale and large-scale processes. The average speedup factor in the large-scale process is at least 6, the worst-case speedup factor is at least 2, and the performance is less than 0.05% suboptimal.

Suggested Citation

  • Yi Ding & Zuhua Xu & Jun Zhao & Zhijiang Shao, 2015. "Fast Model Predictive Control Combining Offline Method and Online Optimization with K-D Tree," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-10, August.
    • Handle: RePEc:hin:jnlmpe:982041
    DOI: 10.1155/2015/982041
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