Harnessing Data for Accelerating Model Predictive Control by Constraint Removal
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866910388579205120 |
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| author | Hou, Zhinan Zhao, Feiran You, Keyou |
| author_facet | Hou, Zhinan Zhao, Feiran You, Keyou |
| contents | Model predictive control (MPC) solves a receding-horizon optimization problem in real-time, which can be computationally demanding when there are thousands of constraints. To accelerate online computation of MPC, we utilize data to adaptively remove the constraints while maintaining the MPC policy unchanged. Specifically, we design the removal rule based on the Lipschitz continuity of the MPC policy. This removal rule can use the information of historical data according to the Lipschitz constant and the distance between the current state and historical states. In particular, we provide the explicit expression for calculating the Lipschitz constant by the model parameters. Finally, simulations are performed to validate the effectiveness of the proposed method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_19126 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Harnessing Data for Accelerating Model Predictive Control by Constraint Removal Hou, Zhinan Zhao, Feiran You, Keyou Systems and Control Model predictive control (MPC) solves a receding-horizon optimization problem in real-time, which can be computationally demanding when there are thousands of constraints. To accelerate online computation of MPC, we utilize data to adaptively remove the constraints while maintaining the MPC policy unchanged. Specifically, we design the removal rule based on the Lipschitz continuity of the MPC policy. This removal rule can use the information of historical data according to the Lipschitz constant and the distance between the current state and historical states. In particular, we provide the explicit expression for calculating the Lipschitz constant by the model parameters. Finally, simulations are performed to validate the effectiveness of the proposed method. |
| title | Harnessing Data for Accelerating Model Predictive Control by Constraint Removal |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2403.19126 |