论文标题
在用于模型预测控制的二次编程解决方案上，移动阻塞
On the Quadratic Programming Solution for Model Predictive Control with Move Blocking
论文作者
论文摘要
模型预测控制（MPC）是一种流行的基于优化的控制技术。 MPC通常被配制为稀疏或密集的二次编程（QP）。本文回顾了两种众所周知的方法，即状态凝结和移动阻塞，并将它们融合在一起。它们的组合在通用QP中产生，该QP随着移动阻滞而任意使用MPC稀疏（或致密）QP。提出的QP可以通过能够利用问题的稀疏性结构的专门求解器来解决。数值示例在计算和内存需求中给出。
Model Predictive Control (MPC) is a popular optimization-based control technique. MPC is usually formulated as sparse or dense Quadratic Programming (QP). This paper reviews two well-known methods, namely, state condensing and move blocking, and brings them together. Their combination results in generalized QP that serves arbitrarily sparse (or dense) QP for MPC with move blocking. The proposed QP can be solved by a specialized solver capable of exploiting a sparsity structure of the problem. Numerical examples give inside in computational and memory requirements.
