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Explicit Distributed and Localized Model Predictive Control via System Level Synthesis

Amo Alonso, Carmen and Matni, Nikolai and Anderson, James (2020) Explicit Distributed and Localized Model Predictive Control via System Level Synthesis. In: 2020 59th IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 5606-5613. ISBN 9781728174471. https://resolver.caltech.edu/CaltechAUTHORS:20210121-152558503

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Abstract

An explicit Model Predictive Control algorithm for large-scale structured linear systems is presented. We base our results on Distributed and Localized Model Predictive Control (DLMPC), a closed loop model predictive control scheme based on the System Level Synthesis (SLS) framework wherein only local state and model information needs to be exchanged between subsystems for the computation and implementation of control actions. We provide an explicit solution for each of the subproblems resulting from the distributed MPC scheme. We show that given the separability of the problem, the explicit solution is only divided into three regions per state and input instantiation, making the point location problem very efficient. Moreover, given the locality constraints, the subproblems are of much smaller dimension than the full problem, which consequently significantly reduces the computational overhead of explicit solutions. We conclude with numerical simulations to demonstrate the computational advantages of our method, in which we show a large improvement in runtime per MPC iteration as compared with the results of computing the optimization with a solver online.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/cdc42340.2020.9304349DOIArticle
https://arxiv.org/abs/2005.13807arXivDiscussion Paper
ORCID:
AuthorORCID
Amo Alonso, Carmen0000-0001-7593-5992
Matni, Nikolai0000-0003-4936-3921
Additional Information:© 2020 IEEE.
Record Number:CaltechAUTHORS:20210121-152558503
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20210121-152558503
Official Citation:C. A. Alonso, N. Matni and J. Anderson, "Explicit Distributed and Localized Model Predictive Control via System Level Synthesis," 2020 59th IEEE Conference on Decision and Control (CDC), Jeju Island, Korea (South), 2020, pp. 5606-5613, doi: 10.1109/CDC42340.2020.9304349
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:107645
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:21 Jan 2021 23:49
Last Modified:03 Feb 2021 22:38

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