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Mark Cannon

Publications and source records attributed to Mark Cannon.

42 records · Page 3Linked to original sources

An ADMM Algorithm for MPC-based Energy Management in Hybrid Electric Vehicles with Nonlinear Losses

In this paper we present a convex formulation of the Model Predictive Control (MPC) optimisation for energy management in hybrid electric vehicles, and an Alternating Direction Method of Multipliers (ADMM) algorithm for its solution. We develop a new proof of convexity for the problem that allows the nonlinear dynamics to be modelled as a linear system, then demonstrate the performance of ADMM in comparison with Dynamic Programming (DP) through simulation. The results demonstrate up to two orders of magnitude improvement in solution time for comparable accuracy against DP.

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ADMM for MPC with state and input constraints, and input nonlinearity

In this paper we propose an Alternating Direction Method of Multipliers (ADMM) algorithm for solving a Model Predictive Control (MPC) optimization problem, in which the system has state and input constraints and a nonlinear input map. The resulting optimization is nonconvex, and we provide a proof of convergence to a point satisfying necessary conditions for optimality. This general method is proposed as a solution for blended mode control of hybrid electric vehicles, to allow optimization in real time. To demonstrate the properties of the algorithm we conduct numerical experiments on randomly generated problems, and show that the algorithm is effective for achieving an approximate solution, but has limitations when an exact solution is required.

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Stochastic Model Predictive Control with Discounted Probabilistic Constraints

This paper considers linear discrete-time systems with additive disturbances, and designs a Model Predictive Control (MPC) law to minimise a quadratic cost function subject to a chance constraint. The chance constraint is defined as a discounted sum of violation probabilities on an infinite horizon. By penalising violation probabilities close to the initial time and ignoring violation probabilities in the far future, this form of constraint enables the feasibility of the online optimisation to be guaranteed without an assumption of boundedness of the disturbance. A computationally convenient MPC optimisation problem is formulated using Chebyshev's inequality and we introduce an online constraint-tightening technique to ensure recursive feasibility based on knowledge of a suboptimal solution. The closed loop system is guaranteed to satisfy the chance constraint and a quadratic stability condition.

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Chance-constrained optimization with tight confidence bounds

Convex sample approximations of chance-constrained optimization problems are considered, in which chance constraints are replaced by sets of sampled constraints. We propose a randomized sample selection strategy that allows tight bounds to be derived on the probability that the solution of the sample approximation is feasible for the original chance constraints when a subset of the sampled constraints is discarded. These confidence bounds are shown to be tighter than the bounds that apply if constraints are discarded according to optimal or greedy discarding strategies. We further show that the same confidence bounds apply to solutions that are obtained from a two stage process in which a sample approximation of a chance-constrained problem is solved, then an empirical measure of the violation probability of the solution is obtained by counting the number of violations of an additional set of sampled constraints. We use this result to design a repetitive scenario approach that meets required tolerances on violation probability given any specified a priori and a posteriori probabilities. These bounds are tighter than confidence bounds available for previously proposed repetitive scenario approaches, and we show that the posterior bounds are exact for a particular problem subclass. The approach is illustrated through numerical examples, and extensions to problems involving multiple chance constraints are discussed.

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On the computation of lambda-contractive sets for linear constrained systems

We present two theoretical results on the computation of lambda-contractive sets for linear systems with state and input constraints. First, we show that it is possible to a priori compute a number of iterations that is sufficient to approximate the maximal lambda-contractive set with a given precision using 1-step sets. Second, based on the former result, we provide a procedure for choosing lambda so that the associated maximal lambda-contractive set is guaranteed to approximate the maximal controlled invariant set with a given accuracy.

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How scaling of the disturbance set affects robust positively invariant sets for linear systems

This paper presents new results on robust positively invariant (RPI) sets for linear discrete-time systems with additive disturbances. In particular, we study how RPI sets change with scaling of the disturbance set. More precisely, we show that many properties of RPI sets crucially depend on a unique scaling factor which determines the transition from nonempty to empty RPI sets. We characterize this critical scaling factor, present an efficient algorithm for its computation, and analyze it for a number of examples from the literature.

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