A parametric branch and bound approach to suboptimal explicit hybrid MPC |
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Authors: | Daniel Axehill Thomas Besselmann Davide Martino Raimondo Manfred Morari |
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Affiliation: | 1. Linköping University, Division of Automatic Control, 58183 Linköping, Sweden;2. ABB Corporate Research, Automation and Control, 5405 Baden-Dättwil, Switzerland;3. University of Pavia, Dipartimento di Ingegneria Industriale e dell’Informazione, 27100 Pavia, Italy;4. ETH Zurich, Automatic Control Laboratory, 8092 Zurich, Switzerland |
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Abstract: | In this article we present a parametric branch and bound algorithm for computation of optimal and suboptimal solutions to parametric mixed-integer quadratic programs and parametric mixed-integer linear programs. The algorithm returns an optimal or suboptimal parametric solution with the level of suboptimality requested by the user. An interesting application of the proposed parametric branch and bound procedure is suboptimal explicit MPC for hybrid systems, where the introduced user-defined suboptimality tolerance reduces the storage requirements and the online computational effort, or even enables the computation of a suboptimal MPC controller in cases where the computation of the optimal MPC controller would be intractable. Moreover, stability of the system in closed loop with the suboptimal controller can be guaranteed a priori. |
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Keywords: | Suboptimal Explicit MPC Hybrid systems Branch and bound Stability |
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