Lasso-MPC – Predictive Control with ℓ1-Regularised Least Squares

Marco Gallieri received a PhD inEngineering as an EPSRC scholar from Sidney Sussex College, the University ofCambridge, in 2014. His research was on Model Predictive Control forredundantly actuated systems, with focus on marine and air vehicles.  In 2007 he received a BSc and in 2009 an MScin information and industrial automation engineering from the Universita’Politecnica delle Marche, in Italy. He wrote his MSc thesis in 2009 during anErasmus exchange at the National University of Ireland Maynooth incollaboration with BioAtlantis Ltd and Enterprise Ireland. The topic wasmodeling and control design for a crane-vessel for seaweed harvesting.  Between May and September 2010 he was a MarieCurie early state researcher at the Instituto Superior Tecnico in Lisbon,working on non-linear methods for formation control of autonomous underwatervehicles with range only measurements. He is author of ten internationalconference papers as well as a Journal article.  Since February 2014 he is with McLaren Racing Ltd. From July2015 he is involved in the development of the F1 car simulator.Previously he worked as a control systems engineer and developed a model basedLi-Ion battery management system for the 2015 Honda power unit. Furtherrelevant projects included car speed and attitude estimation via sensor fusion,predictive analytics for fuel sensor management and fuel system designoptimization.

• Introduction.- Background.- Principles of LASSO MPC.- Version 1: `1-Input Regularised Quadratic MPC.-  Version 2: LASSO MPC with stabilising terminal cost.- Design of LASSO MPC for prioritised and auxiliary actuators.- Robust Tracking with Soft-constraints.- Ship roll reduction with rudder and fins.- Concluding Remarks.