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

Nonfiction, Science & Nature, Science, Other Sciences, System Theory, Technology, Automation
Cover of the book Lasso-MPC – Predictive Control with ℓ1-Regularised Least Squares by Marco Gallieri, Springer International Publishing
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Author: Marco Gallieri ISBN: 9783319279633
Publisher: Springer International Publishing Publication: March 31, 2016
Imprint: Springer Language: English
Author: Marco Gallieri
ISBN: 9783319279633
Publisher: Springer International Publishing
Publication: March 31, 2016
Imprint: Springer
Language: English

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.

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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.

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