6,707 research outputs found
A Parallel Decomposition Scheme for Solving Long-Horizon Optimal Control Problems
We present a temporal decomposition scheme for solving long-horizon optimal
control problems. In the proposed scheme, the time domain is decomposed into a
set of subdomains with partially overlapping regions. Subproblems associated
with the subdomains are solved in parallel to obtain local primal-dual
trajectories that are assembled to obtain the global trajectories. We provide a
sufficient condition that guarantees convergence of the proposed scheme. This
condition states that the effect of perturbations on the boundary conditions
(i.e., initial state and terminal dual/adjoint variable) should decay
asymptotically as one moves away from the boundaries. This condition also
reveals that the scheme converges if the size of the overlap is sufficiently
large and that the convergence rate improves with the size of the overlap. We
prove that linear quadratic problems satisfy the asymptotic decay condition,
and we discuss numerical strategies to determine if the condition holds in more
general cases. We draw upon a non-convex optimal control problem to illustrate
the performance of the proposed scheme
Single-layer economic model predictive control for periodic operation
In this paper we consider periodic optimal operation of constrained periodic linear systems. We propose an economic model predictive controller based on a single layer that unites dynamic real time optimization and control. The proposed controller guarantees closed-loop convergence to the optimal periodic trajectory that minimizes the average operation cost for a given economic criterion. A priori calculation of the optimal trajectory is not required and if the economic cost function is changed, recursive feasibility and convergence to the new periodic optimal trajectory is guaranteed. The results are demonstrated with two simulation examples, a four tank system, and a simplified model of a section of Barcelona's water distribution network.Peer ReviewedPostprint (author’s final draft
Economic MPC with a contractive constraint for nonlinear systems
Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/134956/1/rnc3549.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/134956/2/rnc3549_am.pd
A hierarchical MPC scheme for interconnected systems
This paper describes a hierarchical control scheme for interconnected
systems. The higher layer of the control structure is designed with robust
Model Predictive Control (MPC) based on a reduced order dynamic model of the
overall system and is aimed at optimizing long-term performance, while at the
lower layer local regulators acting at a higher frequency are designed for the
full order models of the subsystems to refine the control action. A simulation
experiment concerning the control of the temperature inside a building is
reported to witness the potentialities of the proposed approach
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