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research article

Regularized economic model predictive control with barrier functions

Bitlislioglu, Altug  
•
Jones, Colin  
January 1, 2020
Optimal Control Applications & Methods

In this article, we consider the use of barrier functions as a regularizing cost in economic model predictive control (EMPC). We focus on a specific variant, EMPC with generalized terminal constraints (G-EMPC), as it is suitable for tackling large-scale problems commonly arising in multiagent settings, which motivates our work. The benefits of using barrier functions are providing smoothing of the constrained problem, allowing the use of second-order methods and warm-starting, which reduces the iteration count significantly. Apart from these numerical benefits, recentered barrier functions can be used as a regularizing cost in the EMPC problem for enhancing closed-loop convergence properties. We show that in the case of G-EMPC, which allows the terminal state to be any equilibrium point, regularizing the problem provides (i) convergence of the predicted terminal state to a neighborhood of a globally optimal equilibrium point, (ii) asymptotic average performance guarantees for the closed-loop system, and (iii) empirical evidence of accelerated numerical solution of the optimal control problem. Specifically we use a proximal-like regularization, which penalizes the deviation from the previously predicted trajectories. We analyze system theoretic properties of the proposed scheme and provide simulation examples illustrating the numerical and system theoretical benefits of using barriers.

  • Details
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Type
research article
DOI
10.1002/oca.2569
Web of Science ID

WOS:000505042800001

Author(s)
Bitlislioglu, Altug  
Jones, Colin  
Date Issued

2020-01-01

Publisher

WILEY

Published in
Optimal Control Applications & Methods
Volume

41

Issue

1

Start page

3

End page

24

Subjects

Automation & Control Systems

•

Operations Research & Management Science

•

Mathematics, Applied

•

Mathematics

•

barrier functions

•

economic model predictive control

•

regularization

•

mpc

•

performance

•

stability

•

scheme

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LA3  
Available on Infoscience
June 19, 2021
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/178929
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