Distributed MPC for PWA Systems Based on Switching ADMM

This repository contains the source code used to produce the results obtained in [Distributed MPC for PWA Systems Based on Switching ADMM](PUT LINK) submitted to [PUT JOURNAL](PUT JOURNAL LINK).

In this work, we propose a novel approach for distributed MPC for PWA systems. The approach is based on a switching ADMM procedure that is developed to solve the globally formulated non-convex MPC optimal control problem distributively.

If you find the paper or this repository helpful in your publications, please consider citing it.

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Installation

The code was created with Python 3.9. To access it, clone the repository

git clone https://github.com/SamuelMallick/stable-dmpc-pwa
cd stable-dmpc-pwa

and then install the required packages by, e.g., running

pip install -r requirements.txt

Structure

The repository code is structured in the following way

• env.py contains the environment for simulating the system, i.e., stepping the dynamics and generating costs.
• model.py contains all the relevant numerical definitions for the state space model of the system.
• plotting.py contains functions for plotting the state trajectories of the system.
• terminal_cost_calculations.py calculates appropriate terminal costs for the system via semi-definite programming.
• generate_ICs.py generates the csv file ICS.csv.
• ICs.csv contains the randomly generated initial conditions used in Distributed MPC for PWA Systems Based on Switching ADMM.
• cent_MLD.py simulates the system under a centralized mixed logical dynamical MPC controller.
• g_admm.py simulates the system under the distributed controller proposed in Distributed MPC for PWA Systems Based on Switching ADMM.
• plt_traj/compare_trajs.py are scripts for generating the images in Distributed MPC for PWA Systems Based on Switching ADMM.
• data contains data files for the results in Distributed MPC for PWA Systems Based on Switching ADMM.
• MATLAB contains auxilarry Matlab scripts for the calculation of terminal sets for the system.

## License

The repository is provided under the GNU General Public License. See the [LICENSE](https://github.com/SamuelMallick/stable-dmpc-pwa/blob/main/LICENSE) file included with this repository.

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## Author

[Samuel Mallick](https://www.tudelft.nl/staff/s.h.mallick/), PhD Candidate [s.mallick@tudelft.nl | sam.mallick.97@gmail.com]

> [Delft Center for Systems and Control](https://www.tudelft.nl/en/3me/about/departments/delft-center-for-systems-and-control/) in [Delft University of Technology](https://www.tudelft.nl/en/)

> This research is part of a project that has received funding from the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme ([Grant agreement No. 101018826 - CLariNet](https://cordis.europa.eu/project/id/101018826)).

Copyright (c) 2023 Samuel Mallick.

Copyright notice: Technische Universiteit Delft hereby disclaims all copyright interest in the program “stable-dmpc-pwa” (Distributed MPC for PWA Systems Based on Switching ADMM) written by the Author(s). Prof. Dr. Ir. Fred van Keulen, Dean of 3mE.