论文标题
消除冗余多项式约束及其在约束控制中的使用
Elimination of Redundant Polynomial Constraints and Its Use in Constrained Control
论文作者
论文摘要
在许多工程应用中，降低约束以获得最小值是一个非常普遍的问题。尽管存在着线性约束的情况有完善的方法，但如何检测冗余非线性约束的问题是一个开放的问题。在本文中，我们提出了一种基于平方之和消除冗余多项式约束的新方法。该论文还提出了一些相关的应用程序，用于限制控制问题。特别是，我们展示了如何在模型预测控制中以及参考调查员框架中使用所提出的方法来减少在线算法的计算负担。此外，该方法还可以用来以独立于成本函数的简单方式消除MPC中的终端约束。
The reduction of constraints to obtain minimal representations of sets is a very common problem in many engineering applications. While well-established methodologies exist for the case of linear constraints, the problem of how to detect redundant non-linear constraints is an open problem. In this paper we present a novel methodology based on Sum of Squares for the elimination of redundant polynomial constraints. The paper also presents some relevant applications of the presented method to constrained control problems. In particular, we show how the proposed method can be used in the Model Predictive Control and in the Reference Governor frameworks to reduce the computational burden of the online algorithms. Furthermore, this method can also be used to eliminate the terminal constraints in MPC in a simple way that is independent from the cost function.
