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Multiparametric quadratic programming with applications

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Abstract:
This talk will treat different topics within multiparametric programming and constrained optimal control. 1. In existing algorithms for multiparametric quadratic programming (mpQP) from the literature, the problems have been assumed to be strictly convex. Here we extend an efficient mpQP algorithm to also be able to solve convex mpQPs. 2. Constrained control allocation in overactuated marine vessels, aircraft and other mechanical systems is in its simplest form a static problem which is well suited for solution via parametric programming. This gives a solution well suited for real-time implementation. Experimental results for a scale model ship are given. 3. We consider model-based optimal control of automotive vehicle yaw dynamics. A nonlinear RHC scheme is applied, and the problem is approximated by different mpQPs in different parts of the state space, leading to a PWL explicit control law.

Type of Seminar:
Public Seminar
Speaker:
Dr. Petter Toendel
Norwegian University of Science and Technology, 7491 Trondheim / Norway
Date/Time:
Nov 04, 2003   17:15
Location:

ETH Zentrum, Physikstrasse 3, Building ETL, Room K25
Contact Person:

Pascal Grieder
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Biographical Sketch:
Petter Tøndel received the Siv.Ing. degree in 1996. He then spent 3 years in various research positions in the industry. In 2000, he started working on his doctoral degree, which treated parametric programming and explicit solutions to MPC. In 2003, he received his doktor ingeniør degree from the Norwegian University of Science and Technology. He is currently working as a post doc. at the Department of Engineering Cybernetics at the Norwegian University of Science and Technology.