As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing a...
详细信息
As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic platforms. Considering typical low-level attitude stabilization available on OTS flight controllers, this paper first develops an approach for modeling and identification of the control augmented dynamics for a small fixed-wing Unmanned Aerial Vehicle (UAV). A high-level Nonlinear Model Predictive controller (NMPC) is subsequently formulated for simultaneous airspeed stabilization, path following, and soft constraint handling, using the identified model for horizon propagation. The approach is explored in several exemplary flight experiments including path following of helix and connected Dubins Aircraft segments in high winds as well as a motor failure scenario. The cost function, insights on its weighting, and additional soft constraints used throughout the experimentation are discussed.
With humanoid robots becoming more complex and operating in un-modeled or human environments, there is a growing need for control methods that are scalable and robust, while still maintaining compliance for safety rea...
详细信息
ISBN:
(纸本)9781538646786
With humanoid robots becoming more complex and operating in un-modeled or human environments, there is a growing need for control methods that are scalable and robust, while still maintaining compliance for safety reasons. Model Predictive control (MPC) is an optimal control method which has proven robust to modeling error and disturbances. However, it can be difficult to implement for high degree of freedom (DoF) systems due to the optimization problem that must be solved. While evolutionary algorithms have proven effective for complex large-scale optimization problems, they have not been formulated to find solutions quickly enough for use with MPC. This work details the implementation of a parallelized evolutionary MPC (EMPC) algorithm which is able to run in real-time through the use of a Graphics Processing Unit (GPU). This parallelization is accomplished by simulating candidate control input trajectories in parallel on the GPU. We show that this framework is more flexible in terms of cost function definition than traditional MPC and that it shows promise for finding solutions for high DoF systems.
The growing demand for improving business efficiency requests the development of generic resource management systems applicable for solving a wide range of complexproblems with minimum cost and time. However, the cla...
详细信息
ISBN:
(纸本)9781538695777;9781538695760
The growing demand for improving business efficiency requests the development of generic resource management systems applicable for solving a wide range of complexproblems with minimum cost and time. However, the classical combinatorial or heuristic methods and tools do not provide adequate solutions for solving complexproblems of resource management in real time. That is why we consider multi-agent technology as the core part of such solutions - which helps find the balance of many interests and adapt it in a flexible way to unpredictable events, such as a new order, an unavailable resource, etc. In this paper we introduce the use of ontology for scheduling, which provides the opportunity to create ontological model of the enterprise, develop generic multi-agent scheduler and customize matching requirements for each operation in business or technological processes, for example, for applications in manufacturing, project management, supply chains, etc. Semantic Wikipedia on the top of ontology editor will be discussed to support knowledge base of enterprise for resource management. The example of applications for supply chain of insurance company is presented.
In the paper, there are considered functional abilities of information operator support systems (IOSS) of power units of nuclear power plants (NPP) and their place within the an unit-level system of automated process ...
详细信息
ISBN:
(纸本)9781509010813
In the paper, there are considered functional abilities of information operator support systems (IOSS) of power units of nuclear power plants (NPP) and their place within the an unit-level system of automated process controlsystems (APCS) of NPP. The purpose of implementation of NPP IOSS is preventing or decreasing the frequency and heaviness of human-operator errors appearing during transients and non-regular situations, when human-operators perform under the conditions of the time deficit, fast changes of the current plant status, and huge volumes of information, conditioning thus the excessively high work load. Within the frameworks of the NPP IOSS, issues of creating flexible modelingcomplexes are considered, enabling one to turn the system to an NPP power unit of a given type.
This article deals with the stationary flight control problem of an Unmanned Aircraft Vehicle (UAV) flying in a wind field. The main objective is to develop a robust control law to stabilize the drone flying under rea...
详细信息
This article deals with the stationary flight control problem of an Unmanned Aircraft Vehicle (UAV) flying in a wind field. The main objective is to develop a robust control law to stabilize the drone flying under real-life outdoor conditions while maintaining adequate flight performances. To do so, a generic nonlinear dynamic model of the quadcopter is firstly developed;this model is then completed with the modeling of the wind disturbances, which allows the simulation of the proposed control algorithms. Two approaches for the synthesis of the control laws are compared: the first one uses Linear Quadratic Regulator (LQR) synthesis and the second one uses structured H_∞ synthesis. Simulations are conducted to evaluate the performances of both control laws when subjected to a nominal wind step input varying from 0 to 14 m/s. This particular input choice makes it possible to analyze the performance of the controllers in both transient (wind gust) and steady states (sustained wind). The results show that better performances are obtained with the structured H_∞ synthesis using the robust control theory than with the LQR synthesis using the optimal control theory. Furthermore, it is shown that the simplicity of use of the Robust control Toolbox of MATLAB favors the usage of more complexcontrol architectures without impacting the workload of the control engineer.
FACTS technology is intended to change the transfer capability and voltage control in the network. The technological benefit from FACTS deployment lies in a decrease in power losses in the network equipment. FACTS dev...
详细信息
ISBN:
(纸本)9781538669044;9781538669037
FACTS technology is intended to change the transfer capability and voltage control in the network. The technological benefit from FACTS deployment lies in a decrease in power losses in the network equipment. FACTS devices can provide significant results when their use makes it possible to simultaneously solve several problems. 1
Cyclic problems are unique and little researched. They belong to a subclass of scheduling problems, as in fact they relate to the so-called irregular criterion. Cyclic problems are object of interest primarily due to ...
详细信息
Cyclic problems are unique and little researched. They belong to a subclass of scheduling problems, as in fact they relate to the so-called irregular criterion. Cyclic problems are object of interest primarily due to their strong practical importance and difficulty in obtaining adequately efficient algorithms solving particular cases with additional constraints arising from manufacturing practice. In this paper we present a survey of papers considering cyclic scheduling in application to manufacturing systems and we propose a parallel approach to the minimum cycle time determination.
this article describes the development of a software module for modeling heat exchange processes in packing columns in the rectification columns applied to the gas industry. The peculiarity of the developed module is ...
详细信息
ISBN:
(纸本)9781538607770
this article describes the development of a software module for modeling heat exchange processes in packing columns in the rectification columns applied to the gas industry. The peculiarity of the developed module is the orientation to solving one-dimensional problems on the basis of finite difference methods, high-performance graphical and tabular display of modeling results, open source code.
This paper presents a novel model predictive control strategy for controlling autonomous motion systems moving through an environment with obstacles of general shape. In order to solve such a generic non-convex optimi...
详细信息
This paper presents a novel model predictive control strategy for controlling autonomous motion systems moving through an environment with obstacles of general shape. In order to solve such a generic non-convex optimization problem and find a feasible trajectory that reaches the destination, the approach employs a quadratic penalty method to enforce the obstacle avoidance constraints, and several heuristics to bypass local minima behind an obstacle. The quadratic penalty method itself aids in avoiding such local minima by gradually finding a path around the obstacle as the penalty factors are successively increased. The inner optimization problems are solved in real time using the proximal averaged Newton-type method for optimal control (PANOC), a first-order method which exhibits low runtime and is suited for embedded applications. The method is validated by extensive numerical simulations and shown to outperform state-of-the-art solvers in runtime and robustness. (C) 2018, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.
Iterative methods for searching of extreme controls(satisfying the maximum principle), which are based on the theory and methods of perturbation of necessary conditions for optimality, are suggested. The methods are c...
详细信息
ISBN:
(纸本)9781510880504
Iterative methods for searching of extreme controls(satisfying the maximum principle), which are based on the theory and methods of perturbation of necessary conditions for optimality, are suggested. The methods are characterized by computationally stable alternating solution of phase and conjugate systems of variables and the absence of labor-intensive operations of convex or needle variation of the improving control.
暂无评论