Fast Model Predictive Control with Soft Constraints

被引：0
|
作者：
Richards, Arthur [1 ]
机构：
[1] Univ Bristol, Dept Aerosp Engn, Bristol BS8 1TR, Avon, England
来源：
2013 EUROPEAN CONTROL CONFERENCE (ECC) | 2013年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a fast optimization algorithm for Model Predictive Control (MPC) with soft constraints. The method relies on the Kreisselmeier-Steinhauser function to provide a smooth approximation of the penalty function for a soft constraint. By introducing this approximation directly into the objective of an interior point optimization, there is no need for additional slack variables to capture constraint violation. Simulation results show significant speed-up compared to using slacks.
引用
收藏
页码：1 / 6
页数：6
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