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LASSO%MPC: Model Predictive Control for Over%actuated...
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Univ logo LASSOMPC: Model Predictive Control for Overactuated Systems Marco Gallieri Jan M. Maciejowski University of Cambridge UKACC PhD Presentation Showcase
Transcript of LASSO%MPC: Model Predictive Control for Over%actuated...
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LASSO-MPC: Model Predictive Control for Over-actuated Systems
Marco Gallieri Jan M. Maciejowski
University of Cambridge
UKACC PhD Presentation Showcase
Univ logo UKACC PhD Presentation Showcase Slide 2
Over-actuated systems
Univ logo UKACC PhD Presentation Showcase Slide 3
Introduction
Potential of over-actuation High performance (despite constraints) Reliability - Fault tolerance
Control design must exploit this potential ! Common solution: control allocation block
What happens here? Closed-loop stability? Performance?
Regulator Control allocation Plant
Univ logo UKACC PhD Presentation Showcase Slide 4
LASSO-MPC
L1-regularisation in MPC 1-
Some inputs are zero for most of the time
1
01jj
Tjj
TjNN u S u Ru xQx )F(x )u (x,V
N
j
Regulator Control allocation
Plant
LASSO-MPC
Univ logo UKACC PhD Presentation Showcase Slide 5
LTI example
Input 1 is never used Sharp control allocation for a finite (300)
Research status
Univ logo UKACC PhD Presentation Showcase Slide 6
Conclusions
LASSO-MPC: regulation plus control allocation For over-actuated systems or expensive control
Research status Stabilising formulation: ad-hoc Terminal cost and Terminal constraint
Quasi-infinite horizon, maximal DOA Offline tuning for extra actuators
Improve pre-existing controllers Future directions
Setpoint tracking Robustness
