TR2015-148

On Region-Free Explicit Model Predictive Control


    •  Kvasnica, M.; Takacs, B.; Holaza, J.; Di Cairano, S., "On Region-Free Explicit Model Predictive Control", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC.2015.7402788, ISBN: 978-1-4799-7884-7, December 2015, pp. 3669-3674.
      BibTeX Download PDF
      • @inproceedings{Kvasnica2015dec,
      • author = {Kvasnica, M. and Takacs, B. and Holaza, J. and {Di Cairano}, S.},
      • title = {On Region-Free Explicit Model Predictive Control},
      • booktitle = {IEEE Conference on Decision and Control (CDC)},
      • year = 2015,
      • pages = {3669--3674},
      • month = dec,
      • publisher = {IEEE},
      • doi = {10.1109/CDC.2015.7402788},
      • isbn = {978-1-4799-7884-7},
      • url = {http://www.merl.com/publications/TR2015-148}
      • }
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  • Research Areas:

    Advanced Control Systems, Mechatronics


We show that explicit MPC solutions admit a closed-form solution which does not require the storage of critical regions. Therefore significant amount of memory can be saved. In fact, not even the construction of such regions is required. Instead, all possible optimal active sets are first extensively enumerated. Then, for each optimal, only the analytical expressions of primal and dual variables are stored. Optimality of a particular if checked by verifying primal and dual feasibility conditions, which are unique for all candidate sets. We show that the required memory storage can be further reduced by only storing the factors for the dual variables.