This paper addresses the disturbance attenuation problem in nonlinear moving horizon control. Conceptually a minimax formulation with a general dissipation constraint is suggested and theoretical results on closed-loo...
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ISBN:
(纸本)9783540726982
This paper addresses the disturbance attenuation problem in nonlinear moving horizon control. Conceptually a minimax formulation with a general dissipation constraint is suggested and theoretical results on closed-loop dissipation, L2 disturbance attenuation and stability are discussed. The implementation issue is attacked with respect to tracking a reference trajectory in the presence of external disturbances and control constraints, and a computationally tractable algorithm is given in the framework of LMI optimization. Simulation and comparisons of setpoint tracking control of a CSTR are presented.
The purpose of this paper is to demonstrate the application of a recently developed theory for distributed nonlinear model predictive control (NMPC) to a promising domain for NMPC: dynamic management of supply chain n...
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ISBN:
(纸本)9783540726982
The purpose of this paper is to demonstrate the application of a recently developed theory for distributed nonlinear model predictive control (NMPC) to a promising domain for NMPC: dynamic management of supply chain networks. Recent work by the first author provides a distributed implementation of NMPC for application in large scale systems comprised of cooperative dynamic subsystems. By the implementation, each subsystem optimizes locally for its own policy, and communicates the most recent policy to those subsystems to which it is coupled. Stabilization and feasibility are guaranteed for arbitrary interconnection topologies, provided each subsystem not deviate too far from the previous policy, consistent with traditional MPC move suppression penalties. In this paper, we demonstrate the scalability and performance of the distributed implementation in a supply chain simulation example, where stages in the chain update in parallel and in the presence of cycles in the interconnection network topology. Using anticipative action, the implementation shows improved performance when compared to a nominal management policy that is derived in the supply chain literature and verified by real supply chain data.
State estimation is addressed for a class of discrete-time systems that may switch among different modes taken from a finite set. The system and measurement equations of each mode are assumed to be linear and perfectl...
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ISBN:
(纸本)9783540726982
State estimation is addressed for a class of discrete-time systems that may switch among different modes taken from a finite set. The system and measurement equations of each mode are assumed to be linear and perfectly known, but the current mode of the system is unknown and is regarded as a discrete state to be estimated at each time instant together with the continuous state vector. A new computationally efficient method for the estimation of the system mode according to a minimum-distance criterion is proposed. The estimate of the continuous state is obtained according to a receding-horizon approach by minimizing a quadratic least-squares cost function. In the presence of bounded noises and under suitable observability conditions, an explicit exponentially converging sequence provides an upper bound on the estimation error. Simulation results confirm the effectiveness of the proposed approach.
Petri nets are a family of powerful discrete event models whose interest has grown, within the automatic control community, in parallel with the development of the theory of discrete event systems. In this tutorial pa...
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ISBN:
(纸本)9783540707004
Petri nets are a family of powerful discrete event models whose interest has grown, within the automatic control community, in parallel with the development of the theory of discrete event systems. In this tutorial paper our goal is that of giving a flavor, by means of simple examples, of the features that make Petri nets a good model for systems theory and of pointing out at a few open areas for research. We focus on Place/Transitions nets, the simplest Petri net model. In particular we compare Petri nets with automata, and show that the former model has several advantages over the latter, not only because it is more general but also because it offers a better structure that has been used for developing computationally efficient algorithms for analysis and synthesis.
The benefits of parametric programming for the design of optimal controllers for constrained systems are widely acknowledged, especially for the case of linear systems. In this work we attempt to exploit these benefit...
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ISBN:
(纸本)9783540726982
The benefits of parametric programming for the design of optimal controllers for constrained systems are widely acknowledged, especially for the case of linear systems. In this work we attempt to exploit these benefits and further extend the theoretical contributions to multi-parametric Model Predictive control (mp-MPC) for non-linear systems with state and input constraints. The aim is to provide an insight and understanding of multi-parametric control and its benefits for non-linear systems and outline key issues for ongoing research work.
This paper considers discrete-time nonlinear, possibly discontinuous, systems in closed-loop with model predictive controllers (MPC). The aim of the paper is to provide a priori sufficient conditions for asymptotic st...
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ISBN:
(纸本)9783540726982
This paper considers discrete-time nonlinear, possibly discontinuous, systems in closed-loop with model predictive controllers (MPC). The aim of the paper is to provide a priori sufficient conditions for asymptotic stability in the Lyapunov sense and input-to-state stability (ISS), while allowing for both the system dynamics and the value function of the MPC cost to be discontinuous functions of the state. The motivation for this work lies in the recent development of MPC for hybrid systems, which are inherently discontinuous and nonlinear. For a particular class of discontinuous piecewise affine systems, a new MPC set-up based on infinity norms is proposed, which is proven to be ISS to bounded additive disturbances. This ISS result does not require continuity of the system dynamics nor of the MPC value function.
In this contribution we present two interior-point path-following algorithms that solve the convex optimisation problem that arises in recentred barrier function model predictive control (MPC), which includes standard...
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ISBN:
(纸本)9783540726982
In this contribution we present two interior-point path-following algorithms that solve the convex optimisation problem that arises in recentred barrier function model predictive control (MPC), which includes standard MPC as a limiting case. However the optimisation problem that arises in nonlinear MPC may not be convex. In this case we propose sequential convex programming (SCP) as an alternative to sequential quadratic programming. The algorithms are appropriate for the convex program that arises at each iteration of such an SCP.
In this chapter we focus on the modeling of cortical activity related to planning and control of visually guided reaching hand movements in primates. We bring a new light to this problem by considering the visual-serv...
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ISBN:
(纸本)9783540719878
In this chapter we focus on the modeling of cortical activity related to planning and control of visually guided reaching hand movements in primates. We bring a new light to this problem by considering the visual-servoing framework in robotics. A review of representative theories and models describing the neuronal processes related to 3D representation of space, motor control and visuomotor integration in Neuroscience is first presented. The kinematics and dynamics of manipulators and the basics of visual-servoing techniques in robotics are then recalled. In particular, for the control of a robotic arm with a deported camera, we underline the fact that the task-Jacobian is dependent on all the joints of the kinematic chain linking the camera to the end-effector. This point suggests that the motor activity during a visually guided movement of the hand cannot be completely encoded within a body-centered reference frame as claimed by numerous models in Neuroscience. Finally, we present an experimental result showing the existence of gaze-related signals in the monkey premotor cortex during visually guided reaching. This result corroborates the idea that the eye position with respect to the head and the head position with respect to the body, which belong to the kinematic chain linking the eye to the hand, must also be coded by neurons in premotor and motor cortex.
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