• DocumentCode
    646143
  • 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
  • fYear
    2013
  • fDate
    17-19 July 2013
  • Firstpage
    524
  • Lastpage
    529
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 2013 European
  • Conference_Location
    Zurich
  • Type

    conf

  • Filename
    6669549
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=646143