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Numerical Study on Real-Time Model Predictive Control for Piece-Wise Affine Systems


G. König

Semester Thesis, FS15 (10434)

Currently, optimal control problems of systems with piecewise affine dynamics are reformulated to mixed-integer quadratic programs and are solved using branch-and-bound methods. Due to limited memory and computational power these solvers cannot typically be deployed on embedded platforms. Researchers at the Automatic Control Laboratory proposed a new method to efficiently solve these problems. An alternative reformulation gives affine equality constraints and independent stage-wise non-convex constraints, such that an operator splitting first-order method that performs euclidean projection computations on non-convex sets can solve the problem. The aim of this project was to investigate the proposed method regarding convergence, solve time and quality of a solution, i. e. can the method be tuned such that it converges for every problem and initial condition, how much faster is the method compared to a state-of-the-art solver and whether the obtained solution is a global or only local optimum. These questions are answered for a benchmark set of problems.

Supervisors: Juan Jerez, Alexander Domahidi, Manfred Morari


Type of Publication:

(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2015:IFA_5214
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