TR2019-050

A Structure Exploiting Branch-and-Bound Algorithm for Mixed-Integer Model Predictive Control


    •  Hespanhol, P., Quirynen, R., Di Cairano, S., "A Structure Exploiting Branch-and-Bound Algorithm for Mixed-Integer Model Predictive Control", European Control Conference (ECC), June 2019.
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      • @inproceedings{Hespanhol2019jun,
      • author = {Hespanhol, Pedro and Quirynen, Rien and Di Cairano, Stefano},
      • title = {A Structure Exploiting Branch-and-Bound Algorithm for Mixed-Integer Model Predictive Control},
      • booktitle = {European Control Conference (ECC)},
      • year = 2019,
      • month = jun,
      • url = {https://www.merl.com/publications/TR2019-050}
      • }
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  • Research Areas:

    Control, Optimization


Mixed-integer model predictive control (MI-MPC) requires the solution of a mixed-integer quadratic program (MIQP) at each sampling instant under strict timing constraints, where part of the state and control variables can only assume a discrete set of values. Several applications in automotive, aerospace and hybrid systems are practical examples of how such discrete-valued variables arise. We utilize the sequential nature and the problem structure of MI-MPC in order to provide a branch-and-bound algorithm that can exploit not only the block-sparse optimal control structure of the problem but that can also be warm started by propagating information from branch-and-bound trees and solution paths at previous time steps. We illustrate the computational performance of the proposed algorithm and compare against current state-of-the-art solvers for a standard hybrid MPC case study, based on a preliminary implementation in MATLAB and C code.