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

• Main Author: Gallieri, Marco (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2016.
• Series: Springer Theses, Recognizing Outstanding Ph.D. Research,
• Subjects: 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 ma...

Table of Contents:

• 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.