Model Predictive Control of Continuous-time Piecewise Affine Systems and Its Precomputation-based Implementation

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  • 連続時間区分的アファインシステムのモデル予測制御と事前計算による高速解法

Abstract

This paper deals with model predictive control of continuous-time piecewise affine (CTPWA) systems. First, the finite-horizon optimal control problem of CTPWA systems is reduced, with certain suboptimality, to the optimization problem of mode sequences and intermediate state sequences. Next, an implementation method based on a precomputation technique is proposed. In the offline phase, this method computes, for every mode sequence, the set of feasible initial states and a lower bound of the cost function associated with it. Then at each sampling time in the online phase, the controller determines the optimal mode sequence and the optimal intermediate state sequence over a prediction horizon, taking advantage of the precomputed information. By effectively distributing the computation over the offline phase and the online phase, real-time control is achieved, striking a good balance between the amount of precomputed data and the online computation time. The effectiveness of the proposed method has been evaluated with a simple exapmle of CTPWA systems by numerical simulations.

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