Basic information about a final thesisAdditional informationAdditional information about the final thesis follows. Click on the language link to display the information in the desired language.
|Language of final thesis:||English|
Parts of thesis with postponed release:
|Title of the thesis:||Efficient embedded explicit model predictive control via convex lifting|
|Summary:||The proposed habilitation thesis deals with complexity reduction and efficient implementation of explicit model predictive control (MPC) so as to make it deployable even on low-cost embedded microcontrollers in applications with fast sampling rates. The work presents the concept of convex lifting and describes how this particular piecewise affine function can be constructed and used to reduce the complexity of explicit MPC solutions. The approach to do so is twofold, one built upon the concept of inverse parametric optimization, the other merely exploiting the structural properties of a convex lifting. Ultimately, a compact methodology is presented to synthesize regionless yet optimal explicit MPC controllers allowing for a dramatic decrease in both the memory footprint and the online evaluation effort, as compared with the standard region-based explicit MPC implementation. This development is shown to offer an immense potential for optimal control applications deployed on the increasingly coveted and low-cost embedded computing platforms, such as the herein considered 32-bit and 8-bit microcontrollers.|
|Key words:||model predictive control, explicit solution, convex lifting, complexity reduction, efficient implementation, embedded microcontrollers|
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