Method and Apparatus for Preconditioned Model Predictive Control

摘要

A method for a model predictive control (MPC) of a system determines entries of an approximate coefficient matrix only at locations identified in a map of locations as significant. The map of locations identifies each location of an entry in the approximate coefficient matrix as either significant or insignificant. The entries are determined using one or combination of an approximate coefficient function and an exact coefficient function. Next, the method determines a preconditioner using the approximate coefficient matrix and determines a solution vector by solving a matrix equation of the MPC with a coefficient matrix defined by an exact coefficient function at a current time step of a control using an iterative method with the preconditioner. The method generates a control signal for controlling the system using the solution vector.

主权项

1. A method for model predictive control (MPC) of a system, comprising:
determining on-line entries of an approximate coefficient matrix only at locations identified in a map of locations as significant, wherein the entries are determined to approximate an exact coefficient matrix of the MPC, and wherein the map of locations identifies each location for an entry in the approximate coefficient matrix as either significant or insignificant; determining at least a part of a preconditioner matrix on-line using the approximate coefficient matrix, wherein the preconditioner matrix is sparse and different from a block diagonal matrix and different from a block tri-diagonal matrix; determining a solution vector on-line by solving a matrix equation of the MPC with the exact coefficient matrix using an iterative method with the preconditioner matrix; and generating a control signal on-line to control the system in real time using the solution vector, wherein steps of the method are performed by at least one processor.