Title :
Stabilising terminal cost and terminal controller for ℓasso-MPC: enhanced optimality and region of attraction
Author :
Gallieri, Marco ; Maciejowski, Jan M.
Author_Institution :
Dept. of Eng., Univ. of Cambridge, Cambridge, UK
Abstract :
In recent literature, ℓ1-regularised MPC, or ℓasso-MPC, has been recommended for control tasks involving complex requirements on the control signals, for instance, the simultaneous solution of regulation and sharp control allocation for redundantly-actuated systems. This is due to the implicit thresholding ability of LASSO regression. In this paper, a stabilising terminal cost featuring a mixed ℓ1/ℓ22 penalty is presented. Then, a candidate terminal controller is computed, with the aim of enlarging the region of attraction.
Keywords :
actuators; optimal control; predictive control; regression analysis; stability; ℓ1-regularised-model predictive control; ℓasso-MPC; LASSO regression; candidate terminal controller; control signals; implicit thresholding ability; mixed ℓ1-ℓ22 penalty; optimality enhancement; redundantly-actuated systems; region of attraction; sharp control allocation; terminal cost stability; Actuators; Approximation methods; Optimal control; Predictive control; Resource management; Trajectory; Tuning;
Conference_Titel :
Control Conference (ECC), 2013 European
Conference_Location :
Zurich
