NDLI: Efficient move blocking strategy for multiple shooting-based non-linear model predictive control

Content Provider	IET Digital Library
Author	Chen, Yutao Scarabottolo, Nicoló Bruschetta, Mattia Beghi, Alessandro
Abstract	Move blocking (MB) is a widely used strategy to reduce the degrees of freedom (DoFs) of the optimal control problem (OCP) arising in receding horizon control. The size of the OCP is reduced by forcing the input variables to be constant over multiple discretisation steps. In this study, the authors focus on developing computationally efficient MB schemes for multiple shooting-based non-linear model predictive control (NMPC). The DoFs of the OCP is reduced by introducing MB in the shooting step, resulting in a smaller but sparse OCP. Therefore, the discretisation accuracy and level of sparsity are maintained. A condensing algorithm that exploits the sparsity structure of the OCP is proposed, that allows to reduce the computation complexity of condensing from quadratic to linear in the number of discretisation nodes. As a result, active-set methods with warm-start strategy can be efficiently employed, thus allowing the use of a longer prediction horizon. A detailed comparison between the proposed scheme and the non-uniform grid NMPC is given. Effectiveness of the algorithm in reducing computational burden while maintaining optimisation accuracy and constraints fulfilment is shown by means of simulations with two different problems.
Starting Page	343
Ending Page	351
Page Count	9
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 2, Jan (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/2
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2019.0168
Journal	IET Control Theory & Applications
Publisher Date	2019-10-08
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Computation Complexity Computational Complexity Discretisation Accuracy DoFs Efficient Move Blocking Strategy MB Scheme Multiple Discretisation Steps Multiple Shooting-based Nonlinear Model Predictive Control Nonlinear Control System Nonuniform Grid NMPC Optimal Control Optimisation Optimisation Technique Prediction Horizon Predictive Control Receding Horizon Control Shooting Step Warm-start Strategy
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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