Abstract: A binary search algorithm combining the truncated binary tree algorithm and distance search algorithm is proposed to deal with the complex problem of explicit model predictive control (EMPC) in the online search phase. On the basis of the fast binary tree algorithm, the pretreatment time is further reduced by the truncation condition, and then the partition search is performed on the leaf nodes by using the distance search algorithm. Finally, the method is applied to the online phase of the explicit model predictive control of the quad-rotor aircraft. The feasibility of the method is verified by the numerical simulation and the hardware-in-the-loop experiments.

Key words: Explicit model predictive control, online search, truncated binary tree algorithm, quad-rotor aircraft

摘要： 针对二叉树算法在显式模型预测控制的在线阶段预处理复杂问题，提出了一种截断二叉树算法和距离搜索相结合的在线搜素算法。在快速二叉树算法基础上，用截断条件进一步减少预处理时间，再利用距离搜索算法对叶子节点上的分区搜索得到状态所属分区。最后将该方法应用于四旋翼飞行器的显式模型预测控制的在线阶段，通过数值仿真和半实物实验验证了该方法的可行性。

关键词: 显式模型预测控制, 在线搜索, 截断二叉树算法, 四旋翼飞行器