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检索条件"丛书名=Lecture Notes in Control and Information Sciences 217"

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Robustness and robust design of MPC for nonlinear discrete-time systems

Robustness and robust design of MPC for nonlinear discrete-t...

引用

International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Magni, Lalo Scattolini, Riccardo Univ Pavia Dipartimento Informat & Sistemist I-27100 Pavia Italy Politecn Milan Dipartimento Elettron & Informat Milan Italy

ISBN: (纸本)9783540726982

In view of the widespread success of Model Predictive control (MPC), in recent years attention has been paid to its robustness characteristics, either by examining the robustness properties inherent to stabilizing MPC algorithms, or by developing new MPC methods with enhanced robustness properties. © Springer-Verlag Berlin Heidelberg 2007.

关键词： Model predictive control

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Computational aspects of approximate explicit nonlinear model predictive control

Computational aspects of approximate explicit nonlinear mode...

引用

International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Grancharova, Alexandra Johansen, Tor A. Tondel, Petter Norwegian Univ Sci & Technol Dept Engn Cybernet N-7491 Trondheim Norway Bulgarian Acad Sci Inst Control Syst Res Sofia Bulgaria

ISBN: (纸本)9783540726982

It has recently been shown that the feedback solution to linear and quadratic constrained Model Predictive control (MPC) problems has an explicit representation as a piecewise linear (PWL) state feedback. For nonlinear MPC the prospects of explicit solutions are even higher than for linear MPC, since the benefits of computational efficiency and verifiability are even more important. Preliminary studies on approximate explicit PWL solutions of convex nonlinear MPC problems, based on multi-parametric Nonlinear Programming (mp-NLP) ideas show that sub-optimal PWL controllers of practical complexity can indeed be computed off-line. However, for non-convex problems there is a need to investigate practical computational methods that not necessarily lead to guaranteed properties, but when combined with verification and analysis methods will give a practical tool for development and implementation of explicit NMPC. The present paper focuses on the development of such methods. As a case study, the application of the developed approaches to compressor surge control is considered.

关键词： Nonlinear programming

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Constructing optimal cyclic tours for planar exploration and obstacle avoidance : A graph theory approach

Constructing optimal cyclic tours for planar exploration and...

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7th International Conference on Cooperative control and Optimization

作者： Tiwari, Abhishek Chandra, Harish Yadegar, Jacob Wang, Junxian Utopia Compress Corp 11150 W Olymp BlvdSuite 1020 Los Angeles CA 90064 USA

ISBN: (纸本)9783540743545

We propose a graph theory approach for planar autonomous exploration. We first partition the planar space using Peano-Cesaro triangular tiling and then construct an edge adjacency dual graph of the tiling pattern. The dual graph of the Peano Cesaro triangulation is obtained by defining a vertex for each triangular tile and drawing an edge between two tiles that share an edge. In the presence of obstacles we analyze the subgraph induced by the non-obstacle tiles in the dual graph. We prove the existence of Hamiltonian cycles in this induced subgraph for a certain class of obstacles. We also prove the non-existence of Hamiltonian cycles for certain other obstacle configurations. We present heuristic based algorithms and compare their results for the cases where we have a definitive answer to the existence of Hamiltonian cycles. Examples with figures are included to illustrate the concept.

关键词： Graph theory

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Digital control of high performance power supplies for a synchrotron light source

引用

Meeting on Advances in control Theory and Applications

作者： Rossi, Carlo Tilli, Andrea Toniato, Manuel Univ Bologna Ctr Res Complex Automated Syst CASY Bologna Italy

ISBN: (纸本)9783540707004

Design and control of Power Supplies (PSs) feeding the magnets of a Synchrotron Light Source have to match severe specifications;high accuracy in the range of ppm in output current tracking is required for the correct operation of the magnets, while a Power Factor (PF) close to the unit is demanded at the input section due to the high power involved. In this paper an advanced control strategy is presented for a particular kind of Quadrupole Magnet Power Supply, where variable output current has to be imposed. The case of the "switch-mode" multilevel power converter for booster quadrupole magnets of the DIAMOND synchrotron radiation facility under construction at the Harwell Chilton Science Campus, Didcot, has been considered. High accuracy in the tracking of the desired output current reference is reached by means of a digital internal model-based controller. A multivariable controller is adopted in order to ensure current balancing between the stages of the multilevel converter. Front-end topology selection, proper dimensioning and control design are exploited to guarantee high power factor and low harmonic distortion of the input currents, and to avoid low-frequency components related to the quadrupole magnets' oscillating currents. For this purpose, confined oscillatory behavior imposed to the voltage of the DC-link capacitors plays a key role. Simulations and experimental validations are reported that confirm the expected results.

关键词： internal model control multilevel AC-AC converters digital control of power converters

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Locating RF emitters with large UAV teams

Locating RF emitters with large UAV teams

引用

7th International Conference on Cooperative control and Optimization

作者： Scerri, Paul Glinton, Robin Owens, Sean Sycara, Katia Fudge, Gerald Anderson, Joshua Carnegie Mellon Univ Sch Comp Sci Pittsburgh PA 15213 USA Gerald Fudge & Joshua Anderson L3 Commun Integrated Syst Greenville TX 75402 USA

ISBN: (纸本)9783540743545

This chapter describes a principled, yet computationally efficient way for a team of UAVs with Received Signal Strength Indicator (RSSI) sensors to locate radio frequency emitting ground vehicles in a large environment. Such a capability has a range of both civilian and military applications. RSSI sensor readings are noisy and multiple emitters will cause ambiguous, overlapping signals to be received by the sensor. Generating a probability distribution over emitter locations requires integrating multiple signals from different UAVs into a Bayesian filter, hence requiring cooperation between the UAVs. To build a coherent distributed picture given communication limitations, the UAVs share only those sensor readings that induce the largest changes in their local filter. Each UAV translates its probability distribution into a map of information entropy and then plans a path that will maximize the reduction in entropy (or conversely provides the highest information gain.) Planned paths are shared with a subset of other UAVs to minimize overlapping search. Experiments in a medium fidelity simulation environment show the approach to be lightweight and effective. Live flight results with lightweight Class I UAVs validate our approach.

关键词： Unmanned aerial vehicles (UAV)

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State estimation analysed as inverse problem

State estimation analysed as inverse problem

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International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Blank, Luise Univ Regensburg NWF I Math D-8400 Regensburg Germany

ISBN: (纸本)9783540726982

In dynamical processes states are only partly accessible by measurements. Most quantities must be determined via model based state estimation. Since in general only noisy data are given, this yields an ill-posed inverse problem. Observability guarantees a unique least squares solution. Well-posedness and observability are qualitative behaviours. The quantitative behaviour can be described using the concept of condition numbers. which we use to introduce an observability measure. For the linear case we show the connection to the well known observability Gramian. For state estimation regularization techniques concerning the initial data are commonly applied in addition. However, we show that the least squares formulation is well-posed, avoids otherwise possibly occuring bias and that the introduced observability measure gives a lower bound on the conditioning of this problem formulation. Introducing possible model error functions we leave the finite dimensional setting. To analyse in detail the influence of the regularization parameters and of the coefficients of the model, we study, as a start, linear state equations as constraints, which appear nearly always as a subproblem of the nonlinear case. We show that state estimation formulated as optimization problem omitting regularization of the initial data leads to a well-posed problem with respect to L-2(-) and L-infinity(-) disturbances. If the introduced measure of observability is low, the arising condition numbers with respect to the L-2-norm can be arbitrarily large. Nevertheless, for the probably in praxis more relevant L-infinity-norm perturbations yield errors in the initial data bounded independently of the system matrix.

关键词： Observability

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NLMPC: A platform for optimal control of feed- or product-flexible manufacturing

NLMPC: A platform for optimal control of feed- or product-fl...

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International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Bartusiak, R. Donald ExxonMobil Chem Co Core Engn Proc Control Dept Baytown TX 77522 USA

ISBN: (纸本)9783540726982

Nonlinear model predictive controllers (NLMPC) using fundamental dynamic models and online nonlinear optimization have been in service in ExxonMobil Chemical since 1994. The NLMPC algorithm used in this work employs a state space formulation, a finite prediction horizon, a performance specification in terms of desired closed loop response characteristics for the outputs, and costs on incremental manipulated variable action. The controller can utilize fundamental or empirical models. The simulation and optimization problems are solved simultaneously using sequential quadratic programming (SQP). In the paper, we present results illustrating regulatory and grade transition (servo) control by NLMPC on several industrial polymerization processes. The paper outlines the NLMPC technology employed, describes the current status in industry for extending linear model predictive control to nonlinear processes or applying NLMPC directly, and identifies several needs for improvements to components of NLMPC.

关键词： Model predictive control

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Observability and the design of fault tolerant estimation using structural analysis

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Meeting on Advances in control Theory and Applications

作者： Staroswiecki, Marcel Ecole Normale Super SATIE CNRS UMR 8029 F-94235 Cachan France

ISBN: (纸本)9783540707004

This chapter presents a structural analysis approach for the design of fault tolerant estimation algorithms. The general fault tolerance problem setting is first given, and structural analysis is presented in the component based modeling frame. An original condition for structural observability is developed, which is constructive, since it allows to identify those Data Flow Diagrams by which unknown variables can be estimated, both in healthy and in faulty conditions. The link with two basic dependability concepts, namely critical faults and reliability is shown.

关键词： structural analysis observability fault tolerance

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Integration of economical optimization and control for intentionally transient process operation

Integration of economical optimization and control for inten...

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International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Kadam, Jitendra V. Marquardt, Wolfgang Rhein Westfal TH Aachen Lehrstuhl Prozess Tech Turmstr 46 D-52064 Aachen Germany

ISBN: (纸本)9783540726982

This paper summarizes recent developments and applications of dynamic real-time optimization (D-RTO). A decomposition strategy is presented to separate economical and control objectives by formulating two subproblems in closed-loop. Two approaches (model-based and model-free at the implementation level) are developed to provide tight integration of economical optimization and control, and to handle uncertainty. Simulated industrial applications involving different dynamic operational scenarios demonstrate significant economical benefits.

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Cooperative formation flying in autonomous unmanned air systems with application to training

Cooperative formation flying in autonomous unmanned air syst...

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7th International Conference on Cooperative control and Optimization

作者： Yuan, Hongliang Gottesman, Vivian Falash, Mark Qu, Zhihua Pollak, Etyan Chunyu, Jiangmin Univ Cent Florida Sch EECS Orlando FL 32826 USA L3 Commun Link Simulat & Train Strateg Technol Orlando FL 32826 USA

ISBN: (纸本)9783540743545

The study of unmanned aerial systems (UAS) has been an active research topic in recent years due to the rapid growth of UAS real-world applications driven by the Global War on Terrorism (GWOT). UAS are defined as a complete unmanned system including control station, data links, and vehicle. Unmanned aerial vehicle (UAV) refers to the vehicle element of the UAS. Currently UAS operate standalone, independent of neighboring UAS and used primarily for reconnaissance. However UAS roles are expanding to the point where UAV swarms will operate as cooperative autonomous units. The reason is that cooperatively controlled multiple UAS have the potential to complete mission critical complicated tasks with the higher efficiency and failure tolerance, such as coordinated navigation to a target, coordinated terrain exploration and search and rescue operations. This chapter presents study results associated with real-time trajectory planning and cooperative formation flying algorithms for use in performing multi-UAV cooperative operations. Closed form analytical and simulation results were used along with a UAS simulation test bed for evaluating and verifying these algorithms in multi-UAV cooperative scenarios. The full kinematics constraints of the UAV model is explicitly used, ensuring the planned trajectories and formations are feasible. Two operational modes are implemented for every UAV, one corresponding to the search phase, the other corresponding to the cooperative flying phase. Each phase is executed upon receiving commands. Finally this chapter discusses the use of this simulation environment for multi-UAV cooperative operator training.

关键词： Personnel training

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