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Complexity Reduction of Receding Horizon Control


P. Grieder

IEEE Conference on Decision and Control, Maui, USA

The off-line solution of constrained optimal control problems has garnered much attention because implementation can be realized with a simple look-up table. Two novel algorithms to compute controllers of significantly lower complexity are presented in this talk. Stability and feasibility of the closed-loop system are guaranteed by both algorithms. Extensive simulation results suggest that, on average, the controller complexity can be reduced by orders of magnitude at the cost of a performance decrease below $0.5%$.


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