CaltechAUTHORS
  A Caltech Library Service

Distributed and Localized Closed Loop Model Predictive Control via System Level Synthesis

Amo Alonso, Carmen and Matni, Nikolai (2020) Distributed and Localized Closed Loop Model Predictive Control via System Level Synthesis. In: 2020 59th IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 5598-5605. ISBN 978-1-7281-7447-1. https://resolver.caltech.edu/CaltechAUTHORS:20191001-144727089

[img] PDF - Submitted Version
See Usage Policy.

1MB

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20191001-144727089

Abstract

We present the Distributed and Localized Model Predictive Control (DLMPC) algorithm for large-scale structured linear systems, a distributed closed loop model predictive control scheme wherein only local state and model information needs to be exchanged between subsystems for the computation and implementation of control actions. We use the System Level Synthesis (SLS) framework to reformulate the centralized MPC problem as an optimization problem over closed loop system responses, and show that this allows us to naturally impose localized communication constraints between sub-controllers. We show that the structure of the resulting optimization problem can be exploited to develop an Alternating Direction Method of Multipliers (ADMM) based algorithm that allows for distributed and localized computation of distributed closed loop control policies. We conclude with numerical simulations to demonstrate the usefulness of our method, in which we show that the computational complexity of the subproblems solved by each subsystem in DLMPC is independent of the size of the global system. To the best of our knowledge, DLMPC is the first MPC algorithm that allows for the scalable distributed computation of distributed closed loop control policies.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC42340.2020.9303936DOIArticle
https://arxiv.org/abs/1909.10074arXivDiscussion Paper
ORCID:
AuthorORCID
Amo Alonso, Carmen0000-0001-7593-5992
Matni, Nikolai0000-0003-4936-3921
Alternate Title:Distributed and Localized Model Predictive Control via System Level Synthesis
Additional Information:© 2020 IEEE.
DOI:10.1109/CDC42340.2020.9303936
Record Number:CaltechAUTHORS:20191001-144727089
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20191001-144727089
Official Citation:C. A. Alonso and N. Matni, "Distributed and Localized Closed Loop Model Predictive Control via System Level Synthesis," 2020 59th IEEE Conference on Decision and Control (CDC), Jeju Island, Korea (South), 2020, pp. 5598-5605, doi: 10.1109/CDC42340.2020.9303936
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:98998
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:01 Oct 2019 22:41
Last Modified:16 Nov 2021 17:43

Repository Staff Only: item control page