Complexity Analysis of the Piece-Wise Affine Approximation for the Car on the Nonlinear Hill Model Related To Discrete–Time, Minimum Time Control Problem
Keywords: predictive control, optimisation, piecewise linear approximation, discrete-time systems
AbstractThe main aim of the paper is to analyse effectiveness of the approximation method from the nonlinear discretised into discrete piece-wise affine model. Accuracy and numerical complexity of the piece-wise affine control system grow with the number of polyhedral partitions, that describe the system. The model with state dependent nonlinearity can be effectively approximated by proposed secant piece-wise linear approximation. The effectiveness of the proposed method is evaluated on the car on the nonlinear hill model.
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