Complexity Analysis of the Piece-Wise Affine Approximation for the Car on the Nonlinear Hill Model Related To Discrete–Time, Minimum Time Control Problem

  • P. Orlowski West Pomeranian University of Technology Szczecin, Poland
Keywords: predictive control, optimisation, piecewise linear approximation, discrete-time systems

Abstract

The 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.

DOI: http://dx.doi.org/10.5755/j01.eee.20.10.4454

Author Biography

P. Orlowski, West Pomeranian University of Technology Szczecin, Poland
Department of Control and Measurements, West Pomeranian University of Technology Szczecin, Sikorskiego 37, 70-310 Szczecin, Poland
Published
2015-01-22
Section
AUTOMATION, ROBOTICS