检索结果-内蒙古大学图书馆

distributed Parameterized predictive control for Multi-robot Curve Tracking

IFAC-PapersOnLine 2020年第2期53卷 3144-3149页

作者： Gabriel V. Pacheco Luciano C.A. Pimenta Guilherme V. Raffo Graduate Program in Electrical Engineering - Universidade Federal de Minas Gerais - Belo Horizonte MG Brazil Department of Electronic Engineering - Universidade Federal de Minas Gerais - Belo Horizonte MG Brazil

This work proposes a guidance strategy of multiple robots to converge and circulate a curve while avoiding collisions by using a distributed model predictive control. To build the model predictive control framework, systems guided by control laws with parameters are considered, which laws are embedded in the optimization problem. After that, the same problem is distributed using the Alternating Direction Method of Multipliers and nonlinear optimization. To solve the task of convergence and circulation of a closed path, a vector field based control law is embedded in the predictive control scheme. The control law results from the sum of two components, a convergence term and a circulation term, whereas each term has one proportional parameter associated. Numerical results present an application example, and the strategy effectiveness is discussed.

关键词： Vector fields distributed model predictive control alternating direction method of multipliers multi-robot systems coordination

来源：评论

学校读者我要写书评

暂无评论

Stability of NMPC with cyclic horizons

引用

IFAC Proceedings Volumes 2013年第23期46卷 809-814页

作者： Markus Kögel Rolf Findeisen Institute for Automation Engineering Otto-von-Guericke-University Magdeburg Germany

In this paper we present stability conditions for nonlinear model predictive control with cyclically varying horizons. Starting from a maximum horizon length, the horizon is reduced by one at each sampling time until a minimum horizon length is reached, at which the horizon is increased to the maximum length. The approach allows to utilize shapes and structures in the terminal constraints, which can otherwise not be handled. Examples are terminal box-constraints, where the terminal set cannot be rendered invariant, or quadratic terminal regions and penalties of diagonal structure. Such constraints are for example of advantage for distributed predictive control problems. To underline the applicability, the approach is used to control a four tank system.

关键词： nonlinear model predictive control distributed model predictive control stability cyclically varying horizons

来源：评论

学校读者我要写书评

暂无评论

Robust-distributed MPC with robust observer to handle communication loss

引用

IFAC Proceedings Volumes 2012年第15期45卷 280-285页

作者： Divya Kumar Walid Al-Gherwi Hector Budman Chemical Engineering Department University of Waterloo Waterloo ON N2L3G1 (Tel: 519-888-4567) Sanofi Pasteur Toronto ON M2R3T4 (Tel:416-667-2955)

distributed model predictive control (DMPC) algorithms reported in the literature had often assumed that state measurements are available to all subsystems at all time instants. However, this assumption is not valid in the presence of loss of communication or data. Then designing for such losses within DMPC becomes critical to overall performance and stability of the system. In this work communication loss was considered for robust DMPC by using within each subsystem an observer, which continuously and recursively estimates states' bounds for all the plant states. These state bounds are then posed as extra constraints within a Linear Matrix Inequalities' formulation that is used to calculate the control actions based on the minimization of an upper bound on robust performance.

关键词： distributed model predictive control Robustness Linear Matrix Inequalities

来源：评论

学校读者我要写书评

暂无评论

Laboratory Plant of a Gas Distribution Network

引用

IFAC Proceedings Volumes 2012年第11期45卷 390-395页

作者： D. Navia R. Martí D. Sarabia C. de Prada Systems Engineering and Automatic Control Department University of Valladolid Spain

This work shows the implementation of a laboratory – scale oxygen distribution plant built with the aim of being used as a benchmark for control and optimization of networked processes. The plant emulates the architecture and the main problems that can be found in real facilities which combine several complex processes linked with shared resources that impose the need of coordinated operation and control. The paper describes the plant and the corresponding models and its control system. Additionally several applications and test are suggested to be performed, including methods for optimization of large scale systems handling uncertain behaviour of process, parameter estimation techniques and distributed model predictive control.

关键词： Laboratory plant Gas networks Large-scale systems Hierarchical decision making Real time optimization distributed model predictive control

来源：评论

学校读者我要写书评

暂无评论

Set-point tracking using distributed MPC

引用

IFAC Proceedings Volumes 2013年第32期46卷 57-62页

作者： Markus Kögel Rolf Findeisen Institute for Automation Engineering Otto-von-Guericke-University Magdeburg Germany

We consider the output tracking of a set-point using cooperative distributed model predictive control. We propose a framework to avoid the loss of feasibility, guarantee stability, constraint satisfaction as well as convergence to admissible set-points. To enable a distributed implementation of the model predictive control law we utilize a cyclic varying horizon length. A simulation example illustrates the approach and its applicability for interconnected systems.

关键词： model predictive control distributed model predictive control Set-point tracking

来源：评论

学校读者我要写书评

暂无评论

Robust model predictive control Using Linear Matrix Inequalities for the Treatment of Asymmetric Output Constraints

引用

JOURNAL OF control SCIENCE AND ENGINEERING 2012年第unknown期2012卷 485784.1-485784.7页

作者： Matos Cavalca, Mariana Santos Harrop Galvao, Roberto Kawakami Yoneyama, Takashi Univ Estado Santa Catarina Ctr Ciencias Tecnol Dept Engn Eletr Rua Paulo MalschitzkiZona Ind Norte BR-8921971 Joinville SC Brazil Inst Tecnol Aeronaut Div Engn Elet BR-12228900 Sao Jose Dos Campos SP Brazil

One of the main advantages of predictive control approaches is the capability of dealing explicitly with constraints on the manipulated and output variables. However, if the predictive control formulation does not consider model uncertainties, then the constraint satisfaction may be compromised. A solution for this inconvenience is to use robust model predictive control (RMPC) strategies based on linear matrix inequalities (LMIs). However, LMI-based RMPC formulations typically consider only symmetric constraints. This paper proposes a method based on pseudoreferences to treat asymmetric output constraints in integrating SISO systems. Such technique guarantees robust constraint satisfaction and convergence of the state to the desired equilibrium point. A case study using numerical simulation indicates that satisfactory results can be achieved.

关键词： model uncertainty predictive control Constraint linear matrix inequalities distributed model predictive control single input single output systems constraint satisfaction problems nonlinear model predictive control model predictive control

来源：评论

学校读者我要写书评

暂无评论

PWM rectifier control comparison for aerospace applications

PWM rectifier control comparison for aerospace applications

引用

7th IET International Conference on Power Electronics, Machines and Drives (PEMD 2014)

作者： R. Todd K. Liu Y. Lau The University of Manchester Manchester Manchester GB

ISBN: (纸本)9781632666390

High-voltage DC-bus power quality is examined when the power network is supplied by a PWM rectifier controlled using different DC-bus voltage regulation schemes. Three controllers are compared, a voltage oriented control and two model predictive control schemes, predictive current fixed frequency and predictive direct power control. A set of PWM rectifier simulation models illustrate the performance of the controllers; a switched model, an ideal averaged-value model and an enhanced averaged-value model which contains the key loss mechanisms. The DC-bus transients are within the limits defined in MIL-STD-704F only when a predictive direct power control is employed.

关键词： PWM rectifier Averaged-value modelling model predictive control DC-bus power quality PWM rectifiers Aerospace applications model predictive control predictive control Power grids distributed model predictive control nonlinear model predictive control direct power

来源：评论

学校读者我要写书评

暂无评论

Robust model predictive control for Discrete T-S Fuzzy Systems with Nonlinear Local models

Robust Model Predictive Control for Discrete T-S Fuzzy Syste...

引用

IEEE International Conference on control and Automation

作者： Long Teng Youyi Wang Wenjian Cai Hua Li Energy Research Institute @ NTU Inter-disciplinary Graduate School School of Electrical and Electronic Engineering Nanyang Technological University School of Mechanical and Aerospace Engineering Nanyang Technological University

ISBN: (纸本)9781509017393

This paper presents a robust model predictive control method for discrete nonlinear systems. Instead of conventional T-S fuzzy system where linear local models are used, T-S fuzzy system with nonlinear local models is adopted that the number of fuzzy rules is decreased and the computational burden is reduced. Meanwhile, persistent external disturbances are also considered in the T-S fuzzy systems that input-to-state stability is realized. Based on the concept of robust positively invariant set, the terminal constraint set for T-S fuzzy systems with nonlinear local models is built. The advantages of the developed method is demonstrated in simulation by comparison with an existing fuzzy model predictive control method with linear local models.

关键词： Fuzzy systems predictive control Fuzzy rules model predictive control distributed model predictive control nonlinear model predictive control T-S fuzzy model fuzzy modeling nonlinearity linear models

来源：评论

学校读者我要写书评

暂无评论

model predictive control of PMSM Considering Online Parameter Identification

Model Predictive Control of PMSM Considering Online Paramete...

引用

China International Electrical and Energy Conference (CIEEC)

作者： Hang Ren Wenxiang Song Zhihuang Ruan School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (数字)9781728116754

ISBN: (纸本)9781728116761

As a high performance control method, model predictive control has many advantages, such as fast dynamic response, simple structure and ability to deal with multivariables, but its control effect depends on the motor model. Aiming at the problem of the parameter sensitivity of model predictive control, in this paper, a model predictive control considering online parameter identification algorithm is proposed. By establishing model reference adaptive system, and designing the parameter adaptive law base on Popov's Superstability theory, the inductance and flux parameters online identified are updated to the model predictive control. Thus, it solves the problem of model predictive control in parameter mismatch, and realizes high performance control under the motor runs for a long time. The simulation results verify the effectiveness of the proposed method.

关键词： model predictive control(MPC) online parameter identification model reference adaptive system Popov's Superstability theory Parameter identification model reference adaptive control predictive control model predictive control distributed model predictive control nonlinear model predictive control Parameter sensitivity control effect Permanent magnet synchronous machines

来源：评论

学校读者我要写书评

暂无评论

Implementation Aspects of model predictive control for Embedded Systems

Implementation Aspects of Model Predictive Control for Embed...

引用

American control Conference

作者： Pablo Zometa Markus Kogel Timm Faulwasser Rolf Findeisen Institute for Automation Engineering OvG University Magdeburg Germany

ISBN: (纸本)9781457710957

We discuss implementation related aspects of model predictive control schemes on embedded platforms. Exemplarily, we focus on fast gradient methods and present results from an implementation on a low-cost microcontroller. We show that input quantization in actuators should be exploited in order to determine a suboptimality level of the online optimization that requires a low number of algorithm iterations and might not significantly degrade the performance of the real system. As a case study we consider a Segway-like robot, modeled by a linear time-invariant system with 8 states and 2 inputs subject to box input constraints. The test system runs with a sampling period of 4 ms and uses a horizons up to 20 steps in a hard real-time system with limited CPU time and memory.

关键词： Embedded systems model predictive control predictive control hard real-time system Time invariant systems gradient methods CPU time Test systems sampling interval actuators distributed model predictive control nonlinear model predictive control Robot

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：