Computational model predictive and adaptive control tools

Introduction

Model predictive control (MPC) is applied with success in industry for automating constrained multivariable dynamical systems in an optimized way. However, some crucial aspects of MPC design largely remain to be addressed to unleash the full potential of MPC in applications.

Challenges in MPC Design

The efforts required to:

• Collect experimental data
• Identify the prediction model
• Calibrate the controller

must be reduced considerably. Additionally, the controller must self-adapt seamlessly to cope with unforeseen changes and not require excessively demanding computer hardware for deployment.

Project Objectives

This project aims to address methodologically such aspects and establish a theoretical and algorithmic framework for designing the next generation of nonlinear adaptive embedded MPC systems from data.

Reducing Data-Collection Efforts

Firstly, to reduce data-collection efforts significantly, we will develop tools that enable the design of experiments based on novel active-learning approaches to nonlinear system identification, coupled with robust MPC schemes to ensure safe data collection.

Cutting Calibration Efforts

Secondly, to cut calibration efforts down drastically, we will devise innovative preference-based methods that can learn from calibrators' assessments and automatically detect critical closed-loop scenarios.

Adapting Prediction Models

Thirdly, we will develop methods for seemingly adapting the prediction model at runtime to cope with uncertainties and model mismatches not seen during the design. Additionally, we will create methods for approximating the control law with different trade-offs between the amount of required online computations and the obtained closed-loop performance.

Industrial Application

To demonstrate the potential industrial use of the methodologies and algorithms developed in the project, we will formulate and solve laboratory benchmark problems on an experimental robotic platform. This platform presents a challenging system for data-driven control due to its highly nonlinear, multi-input/multi-output, and fast-sampling dynamics.