Regularized Model Predictive Control

원문 초록

In model predictive control (MPC), the choice of cost-weighting matrices and designing the Hessian matrix directly affects the trade-off between rapid state regulation and minimizing the control effort. However, traditional MPC in quadratic programming relies on fixed design matrices across the entire horizon, which can lead to suboptimal performance. This letter presents a Riccati equation-based method for adjusting the design matrix within the MPC framework, which enhances real-time performance. We employ a penalized least-squares (PLS) approach to derive a quadratic cost function for a discrete-time linear system over a finite prediction horizon. Using the method of weighting and enforcing the constraint equation by introducing a large penalty parameter, we solve the constrained optimization problem and generate control inputs for forward-shifted horizons. This process yields a recursive PLS-based Riccati equation that updates the design matrix as a regularization term in each shift, forming the foundation of the regularized MPC (Re-MPC) algorithm. To accomplish this, we provide a convergence and stability analysis of the developed algorithm. Numerical analysis demonstrates its superiority over traditional methods by allowing Riccati equation-based adjustments.