Explicit multiobjective model predictive control for nonlinear systems with symmetries
From MaRDI portal
Abstract: Model predictive control is a prominent approach to construct a feedback control loop for dynamical systems. Due to real-time constraints, the major challenge in MPC is to solve model-based optimal control problems in a very short amount of time. For linear-quadratic problems, Bemporad et al.~have proposed an explicit formulation where the underlying optimization problems are solved a priori in an offline phase. In this article, we present an extension of this concept in two significant ways. We consider nonlinear problems and -- more importantly -- problems with multiple conflicting objective functions. In the offline phase, we build a library of Pareto optimal solutions from which we then obtain a valid compromise solution in the online phase according to a decision maker's preference. Since the standard multi-parametric programming approach is no longer valid in this situation, we instead use interpolation between different entries of the library. To reduce the number of problems that have to be solved in the offline phase, we exploit symmetries in the dynamical system and the corresponding multiobjective optimal control problem. The results are verified using two different examples from autonomous driving.
Recommendations
- Explicit multiobjective model predictive control for nonlinear systems under uncertainty
- Symmetry in optimal control: a multiobjective model predictive control approach
- Multiobjective model predictive control
- A Survey on Explicit Model Predictive Control
- Multiobjective model predictive control for stabilizing cost criteria
Cites work
- A Lyapunov Function for Economic Optimizing Model Predictive Control
- A Survey on Explicit Model Predictive Control
- An algorithm for approximate multiparametric convex programming
- Approximate explicit receding horizon control of constrained nonlinear systems.
- Calculus of variations and optimal control theory. A concise introduction
- Covering Pareto sets by multilevel subdivision techniques
- Discrete mechanics and optimal control: An analysis
- Distributed model predictive control based on a cooperative game
- Evolutionary Algorithms for Solving Multi-Objective Problems
- Multi-criteria optimization in nonlinear predictive control
- Multicriteria Optimization
- Multiobjective model predictive control
- Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
- Nonlinear multiobjective optimization. A generalized homotopy approach
- Optimizing Process Economic Performance Using Model Predictive Control
- Set oriented methods for the numerical treatment of multiobjective optimization problems
- Stability of multiobjective predictive control: A utopia-tracking approach
- Survey of Numerical Methods for Trajectory Optimization
- Symmetry exploiting control of hybrid mechanical systems
- The explicit linear quadratic regulator for constrained systems
Cited in
(3)
This page was built for publication: Explicit multiobjective model predictive control for nonlinear systems with symmetries
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6083844)
