Talk of Prof. Maurice Heemels

January 21, 2025, 4:00 p.m. (CET)

--- Title: New Methods for Large-Scale and Data-based MPC

Time: January 21, 2025, 4:00 p.m. (CET)
Lecturer: Prof. Maurice Heemels, Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, Netherlands
Event language: English
Venue: Institute for Systems Theory and Automatic Control
Seminar room 2.255
Pfaffenwaldring 9
70569   Stuttgart
Campus Vaihingen
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Abstract

Model predictive control (MPC) is one of the most successful and widely adopted control techniques. Extensive research continues to focus on MPC, particularly in two areas: (i) managing online computational complexity for large-scale systems and (ii) exploring data-driven MPC approaches. In this talk, we present new results in these areas.

For linear systems constrained by many state constraints, we introduce a novel online constraint-removal framework called constraint-adaptive MPC (ca-MPC). In ca-MPC, the imposed constraints are dynamically adjusted by removing a subset of state constraints at each time step. This reduces the computational complexity of the receding-horizon optimal control problem while ensuring that the closed-loop behavior remains identical to that of the original MPC law. We demonstrate the capabilities of ca-MPC through its application to hyperthermia cancer treatments.

Additionally, we present a predictive control scheme that operates directly on measured frequency-domain data of the plant, eliminating the need for parametric (state-space) prediction models. This new frequency-domain data-driven predictive control (FreePC) scheme is developed using a novel version of Willems’ fundamental lemma, specifically tailored for frequency-domain data. We compare the FreePC approach with the increasingly popular DeePC framework.

Finally, if time permits, we will discuss various MPC solutions for applications in automated driving, quadcopter tracking control, and nuclear fusion, alongside hyperthermia cancer treatments.

 

Biographical Information

Maurice Heemels received M.Sc. (mathematics) and Ph.D. (control theory) degrees (summa cum laude) from the Eindhoven University of Technology (TU/e) in 1995 and 1999, respectively. From 2000 to 2004, he was with the Electrical Engineering Department, TU/e, as an assistant professor, and from 2004 to 2006 with the Embedded Systems Institute (TNO-ESI) as a research fellow. Since 2006, he has been with the Department of Mechanical Engineering, TU/e, where he is currently a Full Professor and Vice-Dean. Maurice held visiting professor positions at Swiss Federal Institute of Technology (ETH), Switzerland (2001), University of California at Santa Barbara (2008) and University of Lorraine, France (2020). His current research includes hybrid and cyber-physical systems, networked and event-triggered control systems and model predictive control. Dr. Heemels served/s on the editorial boards of Automatica, Nonlinear Analysis: Hybrid Systems, Annual Reviews in Control, and IEEE Transactions on Automatic Control. He was a recipient of a personal VICI grant awarded by NWO (Dutch Research Council) and an ERC Advanced Grant (European Research Council). He is a Fellow of the IEEE and IFAC. He was the recipient of the 2019 IEEE L-CSS Outstanding Paper Award and the 2020 Automatica Paper Prize Award. He was in the IEEE-CSS Board of Governors (2021-2023) and the chair of the IFAC Technical Committee on Networked Systems (2017-2023). He is the Editor-in-Chief of the IFAC journal Nonlinear Analysis: Hybrid Systems since 2023. 

  

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