Computation and approximation of piecewise affine control laws via binary search trees
- 1 January 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3 (01912216) , 3144-3149
- https://doi.org/10.1109/cdc.2002.1184353
Abstract
We present an algorithm for generating a binary search tree that allows efficient computation of piecewise affine (PWA) functions defined on a polyhedral partition. This is useful for PWA control approaches, such as explicit model predictive control (MPC), as it allows the controller to be implemented on-line with small computational effort. The computation time is logarithmic in the number of regions in the PWA partition. A method for generating an approximate PWA function based on a binary search tree is also presented, giving further simplification of PWA control.Keywords
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