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Lasso-MPC – Predictive Control with ℓ1-Regularised Least Squares

  • Book
  • © 2016

Overview

Authors:
  1. Marco Gallieri

    1. Analytics, McLaren Applied Technologies, Woking, United Kingdom

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  • Proposes a novel Model Predictive Control (MPC) strategy
  • Presents a straightforward and systematic approach to obtaining asynchronous actuator interventions
  • Outperforms more common MPC strategies when tested on vessel roll reduction
  • Includes supplementary material: sn.pub/extras

Part of the book series: Springer Theses (Springer Theses)

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Table of contents (9 chapters)

  1. Front Matter

    Pages i-xxx
    Download chapter PDF

  2. Introduction

    • Marco Gallieri
    Pages 1-8

  3. Background

    • Marco Gallieri
    Pages 9-45

  4. Principles of LASSO MPC

    • Marco Gallieri
    Pages 47-63

  5. Version 1: \(\ell _1\)-Input Regularised Quadratic MPC

    • Marco Gallieri
    Pages 65-83

  6. Version 2: LASSO MPC with Stabilising Terminal Cost

    • Marco Gallieri
    Pages 85-110

  7. Design of LASSO MPC for Prioritised and Auxiliary Actuators

    • Marco Gallieri
    Pages 111-144

  8. Robust Tracking with Soft Constraints

    • Marco Gallieri
    Pages 145-172

  9. Ship Roll Reduction with Rudder and Fins

    • Marco Gallieri
    Pages 173-183

  10. Concluding Remarks

    • Marco Gallieri
    Pages 185-187
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Keywords

About this book

This thesis proposes a novel Model Predictive Control (MPC) strategy, which modifies the usual MPC cost function in order to achieve a desirable sparse actuation. It features an ℓ1-regularised least squares loss function, in which the control error variance competes with the sum of input channels magnitude (or slew rate) over the whole horizon length. While standard control techniques lead to continuous movements of all actuators, this approach enables a selected subset of actuators to be used, the others being brought into play in exceptional circumstances. The same approach can also be used to obtain asynchronous actuator interventions, so that control actions are only taken in response to large disturbances. This thesis presents a straightforward and systematic approach to achieving these practical properties, which are ignored by mainstream control theory.

Authors and Affiliations

  • Analytics, McLaren Applied Technologies, Woking, United Kingdom

    Marco Gallieri

About the author

Marco Gallieri received a PhD in Engineering as an EPSRC scholar from Sidney Sussex College, the University of Cambridge, in 2014. His research was on Model Predictive Control for redundantly actuated systems, with focus on marine and air vehicles.  In 2007 he received a BSc and in 2009 an MSc in information and industrial automation engineering from the Universita’ Politecnica delle Marche, in Italy. He wrote his MSc thesis in 2009 during an Erasmus exchange at the National University of Ireland Maynooth in collaboration with BioAtlantis Ltd and Enterprise Ireland. The topic was modeling and control design for a crane-vessel for seaweed harvesting.  Between May and September 2010 he was a Marie Curie early state researcher at the Instituto Superior Tecnico in Lisbon, working on non-linear methods for formation control of autonomous underwater vehicles with range only measurements. He is author of ten international conference papers as well as a Journal article.  

Since February 2014 he is with McLaren Racing Ltd. From July 2015 he is involved in the development of the F1 car simulator. Previously he worked as a control systems engineer and developed a model based Li-Ion battery management system for the 2015 Honda power unit. Further relevant projects included car speed and attitude estimation via sensor fusion, predictive analytics for fuel sensor management and fuel system design optimization.

Bibliographic Information

  • Book Title: Lasso-MPC – Predictive Control with ℓ1-Regularised Least Squares

  • Authors: Marco Gallieri

  • Series Title: Springer Theses

  • DOI: https://doi.org/10.1007/978-3-319-27963-3

  • Publisher: Springer Cham

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer International Publishing Switzerland 2016

  • Hardcover ISBN: 978-3-319-27961-9Published: 11 April 2016

  • Softcover ISBN: 978-3-319-80247-3Published: 25 April 2018

  • eBook ISBN: 978-3-319-27963-3Published: 31 March 2016

  • Series ISSN: 2190-5053

  • Series E-ISSN: 2190-5061

  • Edition Number: 1

  • Number of Pages: XXX, 187

  • Number of Illustrations: 10 b/w illustrations, 54 illustrations in colour

  • Topics: Control and Systems Theory, Systems Theory, Control, Simulation and Modeling

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