Lifted Evaluation of mp-MIQP Solutions
2015 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 60, no 12, 3328-3331 p.Article in journal (Refereed) PublishedText
This note presents an efficient approach for the evaluation of multi-parametric mixed integer quadratic programming (mp-MIQP) solutions, occurring for instance in control problems involving discrete time hybrid systems with quadratic cost. Traditionally, the online evaluation requires a sequential comparison of piecewise quadratic value functions. We introduce a lifted parameter space in which the piecewise quadratic value functions become piecewise affine and can be merged to a single value function defined over a single polyhedral partition without any overlaps. This enables efficient point location approaches using a single binary search tree. Numerical experiments with a power electronics application demonstrate an online speedup up to an order of magnitude. We also show how the achievable online evaluation time can be traded off against the offline computational time.
Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2015. Vol. 60, no 12, 3328-3331 p.
Control of constrained systems; control of discrete time hybrid systems; explicit MPC
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:liu:diva-124516DOI: 10.1109/TAC.2015.2417853ISI: 000367284600022OAI: oai:DiVA.org:liu-124516DiVA: diva2:899519