A novel model predictive control formulation for hybrid systems with application to adaptive behavioral interventions

Naresh N. Nandola, Daniel Rivera

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

This paper presents a novel model predictive control (MPC) formulation for linear hybrid systems. The algorithm relies on a multiple-degree-of-freedom formulation that enables the user to adjust the speed of setpoint tracking, measured disturbance rejection and unmeasured disturbance rejection independently in the closed-loop system. Consequently, controller tuning is more flexible and intuitive than relying on move suppression weights as traditionally used in MPC schemes. The formulation is motivated by the need to achieve robust performance in using the algorithm in emerging applications, for instance, as a decision policy for adaptive, time-varying interventions used in behavioral health. The proposed algorithm is demonstrated on a hypothetical adaptive intervention problem inspired by the Fast Track program, a real-life preventive intervention for improving parental function and reducing conduct disorder in at-risk children. Simulation results in the presence of simultaneous disturbances and significant plant-model mismatch are presented. These demonstrate that a hybrid MPC-based approach for this class of interventions can be tuned for desired performance under demanding conditions that resemble participant variability that is experienced in practice when applying an adaptive intervention to a population.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
PublisherIEEE Computer Society
Pages6286-6292
Number of pages7
ISBN (Print)9781424474264
DOIs
StatePublished - 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Keywords

  • Behavioral interventions
  • Hybrid systems
  • Model predictive control
  • Robust performance

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Nandola, N. N., & Rivera, D. (2010). A novel model predictive control formulation for hybrid systems with application to adaptive behavioral interventions. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 6286-6292). [5531515] (Proceedings of the 2010 American Control Conference, ACC 2010). IEEE Computer Society. https://doi.org/10.1109/acc.2010.5531515