Fast explicit MPC with multiway trees

M Mönnigmann, M Kastsian - IFAC Proceedings Volumes, 2011 - Elsevier
We show that explicit model predictive control (EMPC) laws, or more generally continuous
piecewise affine control (PWA) laws on polyhedra, can be represented by multiway trees
with two important features:(i) Their height can be reduced arbitrarily by increasing their
order m (ie the number of binary tree nodes hidden in each multiway node).(ii) A multiway
node can be evaluated as fast as a binary node with a simple but massively concurrent (or
“parallel”) procedure for m≫ 1. As a result the control law evaluation can be evaluated …
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