The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 07, 2020
Filed:
Feb. 05, 2018
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Rien Quirynen, Cambridge, MA (US);
Andrei Kniazev, Cambridge, MA (US);
Stefano Di Cairano, Newton, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A predictive controller for controlling a system subject to constraints including equality and inequality constraints on state and control variables of the system, includes an estimator to estimate a current state of the system using measurements of outputs of the system and a controller to solve, at each control step, a matrix equation of necessary optimality conditions to produce a control solution and to control the system using the control solution to change a state of the system. The matrix equation includes a block-structured matrix having a constraint Jacobian matrix of the equality constraints of the system. The controller determines the control solution iteratively using two levels of iterations including a first level of iterations that selects active inequality constraints for each point of time within a control horizon, updates the constraint Jacobian matrix, with a low-rank update for a change in the set of active inequality constraints, to include the equality constraints and the active inequality constraints, and updates a preconditioning matrix, with a low-rank factorization update, in response to the low-rank update of the constraint Jacobian matrix. The second level of iterations solves the matrix equation with the updated constraint Jacobian matrix using the updated preconditioning matrix to produce the control solution.