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

12 Citations (Scopus)

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
Pages6286-6292
Number of pages7
StatePublished - 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010

Other

Other2010 American Control Conference, ACC 2010
CountryUnited States
CityBaltimore, MD
Period6/30/107/2/10

Fingerprint

Model predictive control
Hybrid systems
Disturbance rejection
Closed loop systems
Tuning
Health
Controllers

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

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]

A novel model predictive control formulation for hybrid systems with application to adaptive behavioral interventions. / Nandola, Naresh N.; Rivera, Daniel.

Proceedings of the 2010 American Control Conference, ACC 2010. 2010. p. 6286-6292 5531515.

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

Nandola, NN & 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., 5531515, pp. 6286-6292, 2010 American Control Conference, ACC 2010, Baltimore, MD, United States, 6/30/10.
Nandola NN, Rivera D. 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. 2010. p. 6286-6292. 5531515
Nandola, Naresh N. ; Rivera, Daniel. / A novel model predictive control formulation for hybrid systems with application to adaptive behavioral interventions. Proceedings of the 2010 American Control Conference, ACC 2010. 2010. pp. 6286-6292
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