Hierarchical MPC for coupled subsystems using adjustable tubes

DOI10.1016/J.AUTOMATICA.2022.110435zbMATH Open1497.93062arXiv2202.11228OpenAlexW4283207611MaRDI QIDQ2158991FDOQ2158991

Authors: Vignesh Raghuraman, Justin P. Koeln 

Publication date: 26 July 2022

Published in: Automatica (Search for Journal in Brave)

Abstract: A hierarchical Model Predictive Control (MPC) formulation is presented for coupled discrete-time linear systems with state and input constraints. Compared to a centralized approach, a two-level hierarchical controller, with one controller in the upper-level and one controller per subsystem in the lower-level, can significantly reduce the computational cost associated with MPC. Hierarchical coordination is achieved using adjustable tubes, which are optimized by the upper-level controller and bound permissible lower-level controller deviations from the system trajectories determined by the upper-level controller. The size of these adjustable tubes determines the degree of uncertainty between subsystems and directly affects the required constraint tightening under a tube-based robust MPC framework. Sets are represented as zonotopes to enable the ability to optimize the size of these adjustable tubes and perform the necessary constraint tightening online as part of the MPC optimization problems. State and input constraint satisfaction is proven for the two-level hierarchical controller with an arbitrary number of controllers at the lower-level and a numerical example demonstrates the key features and performance of the approach.

Full work available at URL: https://arxiv.org/abs/2202.11228

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zbMATH Keywords

hierarchical controlzonotopesset-based computingrobust model predictive control

Mathematics Subject Classification ID

Hierarchical systems (93A13) Model predictive control (93B45)

Cites Work

• Robust model predictive control of constrained linear systems with bounded disturbances
• Vertical hierarchical MPC for constrained linear systems
• Stable hierarchical model predictive control using an inner loop reference model and \(\lambda\)-contractive terminal constraint sets
• An optimal regulation strategy with disturbance rejection for energy management of hybrid electric vehicles
• Distributed predictive control of continuous-time systems
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• A hierarchical multi-rate MPC scheme for interconnected systems
• Set operations and order reductions for constrained zonotopes

Cited In (4)

• Hierarchical clustering of constrained dynamic systems using robust positively invariant sets
• Hierarchical MPC schemes for periodic systems using stochastic programming
• An MPC approach to the design of two-layer hierarchical control systems
• Maximum likelihood gradient‐based iterative estimation for closed‐loop Hammerstein nonlinear systems

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