Lasso-MPC – Predictive Control with ℓ1-Regularised Least Squares

• Κύριος συγγραφέας: Gallieri, Marco (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2016.
• Σειρά: Springer Theses, Recognizing Outstanding Ph.D. Research,
• Θέματα: Engineering.; Computer simulation.; System theory.; Control engineering.; Control.; Systems Theory, Control.; Simulation and Modeling.

 This thesis proposes a novel Model Predictive Control (MPC) strategy, which modifies the usual MPC cost function in order to achieve a desirable sparse actuation. It features an ℓ1-regularised least squares loss function, in which the control error variance competes with the sum of input channels magnitude (or slew rate) over the whole horizon length. While standard control techniques lead to continuous movements of all actuators, this approach enables a selected subset of actuators to be used, the others being brought into play in exceptional circumstances. The same approach can also be used to obtain asynchronous actuator interventions, so that control actions are only taken in response to large disturbances. This thesis presents a straightforward and systematic approach to achieving these practical properties, which are ignored by mainstream control theory. 

 Introduction -- Background -- Principles of LASSO MPC -- Version 1: `1-Input Regularised Quadratic MPC.-  Version 2: LASSO MPC with stabilising terminal cost -- Design of LASSO MPC for prioritised and auxiliary actuators -- Robust Tracking with Soft-constraints -- Ship roll reduction with rudder and fins -- Concluding Remarks.