An efficient MPC algorithm for switched systems with minimum dwell time constraints

DOI10.1016/J.AUTOMATICA.2022.110453zbMATH Open1497.93057arXiv2002.09658OpenAlexW4283801672WikidataQ114204765 ScholiaQ114204765MaRDI QIDQ2158996FDOQ2158996

Authors: Yutao Chen, Mircea Lazar 

Publication date: 26 July 2022

Published in: Automatica (Search for Journal in Brave)

Abstract: This paper presents an efficient suboptimal model predictive control (MPC) algorithm for nonlinear switched systems subject to minimum dwell time constraints (MTC). While MTC are required for most physical systems due to stability, power and mechanical restrictions, MPC optimization problems with MTC are challenging to solve. To efficiently solve such problems, the on-line MPC optimization problem is decomposed into a sequence of simpler problems, which include two nonlinear programs (NLP) and a rounding step, as typically done in mixed-integer optimal control (MIOC). Unlike the classical approach that embeds MTC in a mixed-integer linear program (MILP) with combinatorial constraints in the rounding step, our proposal is to embed the MTC in one of the NLPs using move blocking. Such a formulation can speedup on-line computations by employing recent move blocking algorithms for NLP problems and by using a simple sum-up-rounding (SUR) method for the rounding step. An explicit upper bound of the integer approximation error for the rounding step is given. In addition, a combined shrinking and receding horizon strategy is developed to satisfy closed-loop MTC. Recursive feasibility is proven using a $l$-step control invariant ($l$-CI) set, where $l$ is the minimum dwell time step length. An algorithm to compute $l$-CI sets for switched linear systems off-line is also presented. Numerical studies show significant speed-up and comparable control performance of the proposed MPC algorithm against the classical approach, though at the cost of sub-optimal solutions.

Full work available at URL: https://arxiv.org/abs/2002.09658

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zbMATH Keywords

model predictive controlswitched systemsmove blockingrecursive feasibilityminimum dwell time constraints

Mathematics Subject Classification ID

Mixed integer programming (90C11) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Model predictive control (93B45)

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Cited In (5)

• Switched model predictive control of switched linear systems: feasibility, stability and robustness
• Discrete-time MPC for switched systems with applications to biomedical problems
• Robust tube-based NMPC for dynamic systems with discrete degrees of freedom
• \(l_1\) filtering for uncertain discrete-time singular switched positive systems with time delay and output quantization
• Distributed switched model-based predictive control for distributed large-scale systems with switched topology

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