Stable hierarchical model predictive control using an inner loop reference model and -contractive terminal constraint sets

DOI10.1016/J.AUTOMATICA.2013.10.009zbMATH Open1298.93016arXiv1305.2651OpenAlexW1965461599MaRDI QIDQ463791FDOQ463791

Authors: Chris Vermillion, Ilya Kolmanovsky, Amor Menezes 

Publication date: 17 October 2014

Published in: Automatica (Search for Journal in Brave)

Abstract: This paper proposes a novel hierarchical model predictive control (MPC) strategy that guarantees overall system stability. This method differs significantly from previous approaches to guaranteeing overall stability, which have relied upon a multi-rate framework where the inner loop (low level) is updated at a faster rate than the outer loop (high level), and the inner loop must reach a steady-state within each outer loop time step. In contrast, the method proposed in this paper is aimed at stabilizing the origin of an error system characterized by the difference between the inner loop state and the state specified by a full-order reference model. This makes the method applicable to systems with reduced levels of time scale separation. This paper proposes a framework for guaranteeing stability that leverages the use of the reference model, in conjunction with lambda-contractive constraint sets for both the inner and outer loops. The effectiveness of the proposed reference model-based strategy is shown through simulation on an existing stirred tank reactor problem, where we demonstrate that the MPC optimization problem remains feasible and that the system remains stable and continues to perform well when time scale separation between the inner and outer loops is reduced.

Full work available at URL: https://arxiv.org/abs/1305.2651

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zbMATH Keywords

model predictive controlhierarchical controldecentralizationcontrol of constrained systems

Mathematics Subject Classification ID

Hierarchical systems (93A13) Stability of control systems (93D99)

Cites Work

• Stable hierarchical model predictive control using an inner loop reference model and \(\lambda\)-contractive terminal constraint sets
• Linear time-varying model predictive control and its application to active steering systems: stability analysis and experimental validation
• An MPC approach to the design of two-layer hierarchical control systems

Cited In (6)

• Vertical hierarchical MPC for constrained linear systems
• Sliding mode-based adaptive tube model predictive control for robotic manipulators with model uncertainty and state constraints
• Hierarchical MPC for coupled subsystems using adjustable tubes
• Hierarchical model predictive control of independent systems with joint constraints
• Stable hierarchical model predictive control using an inner loop reference model and \(\lambda\)-contractive terminal constraint sets
• Robust hierarchical model predictive control of graph-based power flow systems

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