An efficient implementation of graph-based invariant set algorithm for constrained nonlinear dynamical systems. (August 2022)

• Record Type: Journal Article
• Authors: Decardi-Nelson, Benjamin; Liu, Jinfeng
• Is Part Of: Computers & chemical engineering. Volume 164(2022)
• Publication Date: 2022-08
• Subjects: Graph-based invariant set -- Control invariance -- Graph theory -- Nonlinear systems; Chemical engineering -- Data processing -- Periodicals; 660.0285
• DOI: 10.1016/j.compchemeng.2022.107906
• Languages: English
• ISSNs: 0098-1354

Abstract

Highlights: Adaptive cell subdivision for graph-based invariant set calculation. An efficient parallelization algorithm with GPU. A detailed example illustrating the performance of the algorithm. Abstract: The graph-based invariant set (GIS) algorithm is a promising set-based technique for computing the largest (with respect to inclusion) control invariant set of general discrete-time nonlinear dynamical systems. However, like other invariant set algorithms for nonlinear systems, the GIS algorithm may require a lot of resources when computing the control invariant set. This limits its applicability to higher dimensional systems. In this work, we present an improved and efficient implementation of the GIS algorithm for general discrete-time controlled nonlinear systems. We first identify the bottlenecks through extensive analysis, and then provide remedial procedures to improve the implementation of the GIS algorithm. Specifically, we developed an adaptive subdivision scheme using a supervised machine learning-based algorithm to reduce the cell growth rate and parallelize the graph construction step. We extensively demonstrate the performance of the improved GIS algorithm using a numerical example and compare the result to that of the standard GIS algorithm. The results show that the adaptive subdivision and the parallelization improved the speed of the algorithm by about 8x and 3x respectively, that of the standard GIS algorithm.