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检索条件"主题词=Linear Model Predictive Control"

共 52 条记录，以下是31-40 订阅

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Real Time Tactic Switching for Multiple Cooperative UAVs via model predictive control 9

Real Time Tactic Switching for Multiple Cooperative UAVs via...

引用

9th Annual IEEE International Systems Conference (SysCon)

作者： Hafez, A. T. Givigi, S. N. Schwartz, Howard M. Yousefi, S. Iskandarani, M. Queens Univ Kingston ON K7L 3N6 Canada Royal Mil Coll Canada Kingston ON Canada Carleton Univ Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781479959273

Intelligent and flexible control strategies are required to allow a team of cooperative Unmanned Aerial Vehicles (UAVs) to accomplish a multitude of challenging group tasks. In this paper, a real time implementation of a team of multiple cooperative UAVs performing a combination of UAV tactics is introduced. A team of N cooperative UAVs switches from a desired formation into a dynamic encirclement tactic around a desired stationary target in real time using a decentralized high-level linear model predictive control (LMPC) combined with Feedback linearization (FL) technique in real time. During the experiments, the cooperative UAVs avoid collisions with nearby flockmates, attempt to match the velocity of other team members and attempt to stay close to other flockmates. The main contribution of this paper lies in the use of a predictive decentralized approach represented by the LMPC to solve the problem of tactic switching for a team of cooperative quadrotors in real time while ensuring the stability of the system during flight.

关键词： linear model predictive control Unmanned Aerial Vehicles Autonomous robotics Cooperative robotics UAV Tactic

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CONSTRAINED model predictive control OF THE REDUNDANT CABLE ROBOTS

CONSTRAINED MODEL PREDICTIVE CONTROL OF THE REDUNDANT CABLE ...

引用

World Automation Congress 2008

作者： Ghasemi, Ali Eghtesad, Mohammad Farid, Mehrdad Shiraz Univ Shiraz Iran

This paper introduces a controller for cable robots with redundant cables under input constraints. The controller is based on input-output feedback linearization and linear model predictive control (LMPC). The effecti... 详细信息

ISBN: (纸本)9781889335384

关键词： Cable robot Input-output linearization linear model predictive control Redundancy

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On the complexity of the convex liftings-based solution to inverse parametric convex programming problems

On the complexity of the convex liftings-based solution to i...

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European control Conference (ECC)

作者： Nguyen, N. A. Olaru, S. Rodriguez-Ayerbe, P. Univ Paris Sud CentraleSupelec L2S CNRSUMR 8506 3 Rue Joliot Curie F-91192 Gif Sur Yvette France

ISBN: (纸本)9783952426937

The link between linear model predictive control (MPC) and parametric linear/quadratic programming has reached maturity in terms of the characterization of the structural properties and the numerical methods available for the effective resolution. The computational complexity is one of the current bottlenecks for these control design methods and inverse optimality has been recently shown to provide a new perspective for this challenge. However, the question of the minimal complexity of inverse optimality formulation is still open and much under discussion. In this paper we revisit some recent results by pointing out unnecessary geometrical complications which can be avoided by the interpretation of the optimality conditions. Two algorithms for fine-tuning inverse optimality formulation will be proposed and the results will be interpreted via two illustrative examples in comparison with existing formulations.

关键词： computational complexity convex programming linear programming predictive control quadratic programming MPC convex lifting-based solution fine-tuning inverse optimality formulation inverse parametric convex programming problem linear model predictive control parametric linear programming parametric quadratic programming Computational complexity Cost function Europe Programming Redundancy

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Lithography overlay controller formulation

Lithography overlay controller formulation

引用

Conference on Process control and Diagnostics

作者： Bode, CA Toprac, AJ Edwards, RD Edgar, TF Adv Micro Devices Inc Austin TX 78741 USA

ISBN: (纸本)081943843X

Lithography overlay refers to the measurement of the alignment of successive patterns within the manufacture of semiconductor devices. control of overlay has become of great importance in semiconductor manufacturing, as the tolerance for overlay error is continually shrinking in order to manufacture next-generation semiconductor products. Run-to-run control has become an attractive solution to many control problems within the industry, including overlay. The term run-to-run control refers to any automated procedure whereby recipe settings are updated between successive process runs in order to keep the process under control. The following discussion will present the formulation of such a controller by examining control of overlay. A brief introduction of overlay will be given, highlighting the control challenge overlay presents. A data management methodology that groups like processes together in order to improve controllability, referred to as control threads, will then be presented. Finally, a discussion of linear model predictive control will show its utility in feedback run-to-run control.

关键词： lithography overlay run-to-run control control threads linear model predictive control

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Humanoid Locomotion on Uneven Terrain Using the Time-Varying Divergent Component of Motion 14

Humanoid Locomotion on Uneven Terrain Using the Time-Varying...

引用

14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Hopkins, Michael A. Hong, Dennis W. Leonessa, Alexander Virginia Tech Terr Robot Engn & Controls Lab Blacksburg VA 24061 USA Univ Calif Los Angeles Robot & Mech Lab Los Angeles CA 90024 USA

ISBN: (纸本)9781479971749

This paper presents a framework for dynamic humanoid locomotion on uneven terrain using a novel time-varying extension to the Divergent Component of Motion (DCM). By varying the natural frequency of the DCM, we are able to achieve generic CoM height trajectories during stepping. The proposed planning algorithm computes admissible DCM reference trajectories given desired ZMP plans for single and double support. This is accomplished using reverse-time integration of the discretized DCM dynamics over a finite time horizon. To account for discontinuities during replanning, linear model predictive control (MPC) is implemented over a short preview window. DCM tracking control is achieved using a time-varying proportional-integral controller based on the Virtual Repellent Point (VRP). The effectiveness of the combined approach is verified in simulation using a 30-DoF model of THOR, a compliant torque-controlled humanoid.

关键词： humanoid robots legged locomotion linear systems motion control path planning predictive control robot dynamics three-term control time-varying systems torque control trajectory control DCM tracking control MPC THOR VRP ZMP plan admissible DCM reference trajectory compliant torque-controlled humanoid discretized DCM dynamics dynamic humanoid locomotion finite time horizon generic CoM height trajectory linear model predictive control natural frequency planning algorithm reverse-time integration time-varying divergent component of motion time-varying extension time-varying proportional-integral controller uneven terrain virtual repellent point Dynamics Heuristic algorithms Legged locomotion Planning predictive control Time-frequency analysis Trajectory Biped locomotion predictive control Three term control systems THOR Vascular Endothelial Growth Factor C robot dynamics trajectory control Humanoid robots trajectory time-varying systems Natural frequencies Heuristic algorithms Maximum Allowable Concentration INTEGRATION TIME Torque control

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An Attitude control considering Sideslip Phenomenon using DOB-based LMPC-LQR for Four-Wheel Steering Vehicle 57

An Attitude Control considering Sideslip Phenomenon using DO...

引用

57th Annual Conference of the Society of Instrument and control Engineers of Japan (SICE)

作者： Soubou, Hiromu Ohhira, Takashi Shimada, Akira Shibaura Inst Technol Grad Sch Engn & Sci Tokyo Japan Shibaura Inst Technol Dept Engn & Design Tokyo Japan

ISBN: (纸本)9784907764609

This study presents an attitude control system for a four-wheel steering vehicle had a driving support system (DSS). Generally, the DSS is not a suitable system to ensure stability of the four-wheel vehicles when the vehicles drive some slippery roads such as a snowy road. Therefore, in this study, we propose the attitude control system for the four-wheel steering vehicle which can ensure the stability. In addition, the four-wheel vehicle as control target has a function that handles a steering system of front and rear, independently. To design this control system, we use a state expressed disturbance distributed observer(DOB), discrete-time LQR and linear model predictive control(LMPC). Finally, we present good validation result from a movement-control simulation of the four-wheel steering vehicle.

关键词： Four-Wheel Steering Vehicles Attitude control Sideslip Disturbance Observer linear model predictive control

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Influence of Preview Distance on LMPC-Based Path Tracking 39

Influence of Preview Distance on LMPC-Based Path Tracking

引用

39th Chinese control Conference (CCC)

作者： Bai, Guoxing Meng, Yu Gu, Qing Gan, Xin Li, Kailun Univ Sci & Technol Beijing Sch Mech Engn Beijing 100083 Peoples R China

ISBN: (纸本)9789881563903

In previous research, it has been found that linear model predictive control (LMPC) has advantages in dealing with system constraints, while preview control can introduce nonlinear feedforward information into path tracking. But so far, the advantages of these two control methods have not been combined. For the combination of LMPC and preview control, the most important problem to be solved is how to set the preview distance. To solve this problem, we added different preview distances for the LMPC-based path tracking controller under different working conditions. Through the simulation results, we reached five conclusions. Firstly, the performance of LMPC can be improved by adding the preview distance. Secondly, for the LMPC-based path tracking controller, there is an optimal preview distance. Thirdly, the optimal preview distance is related to the longitudinal velocity, and usually, a longer preview distance should be taken when the longitudinal velocity is higher. Fourthly, the correlation between the curvature of the reference path and the optimal preview distance is weak. Fifthly, adjusting the preview distance does not affect the real-time performance of the LMPC controller.

关键词： Path tracking linear model predictive control preview control preview distance

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Exact Complexity Certification of an Early-Terminating Standard Primal Active-Set Method for Quadratic Programming 21st

Exact Complexity Certification of an Early-Terminating Stand...

引用

21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Arnstrom, Daniel Axehill, Daniel Linkoping Univ Div Automat Control Linkoping Sweden

In this paper we present a method to exactly certify the iteration complexity of a primal active-set algorithm for quadratic programs which is terminated early, given a specific multi-parametric quadratic program. The primal active-set algorithm's real-time applicability is, hence, improved by early termination, increasing its computational efficiency, and by the proposed certification method, providing guarantees on worst-case behaviour. The certification method is illustrated on a multi-parametric quadratic program originating from model predictive control of an inverted pendulum, for which the relationship between allowed suboptimality and iterations needed by the primal active-set algorithm is presented. Copyright (C) 2020 The Authors.

关键词： Quadratic programming Active-set methods linear model predictive control Suboptimal control Complexity certification

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Walking without thinking about it

Walking without thinking about it

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Herdt, Andrei Perrin, Nicolas Wieber, Pierre-Brice CNRS AIST Joint Robot Lab UMI3218 CRT Tsukuba Ibaraki Japan

ISBN: (纸本)9781424466757

We demonstrate in this paper our motion generation sheme for the generation of stable bipedal walking motions and we expand it to enhance its flexibility and independency. An algorithm for the control of appropriate orientations of the feet and the trunk permits the robot to turn in a natural and safe way. Polygonal constraints on the positions of the computed feet positions serve to improve its reliability. A logic for the succession of the support phases and an algorithm for the automatic control of their orientations bridge the gap to more autonomy and to more practicability.

关键词： Walking Humanoid Robot linear model predictive control

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Task Decomposition for MPC: A Computationally Efficient Approach for linear Time-Varying Systems 21st

Task Decomposition for MPC: A Computationally Efficient Appr...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Vallon, Charlott Borrelli, Francesco Univ Calif Berkeley Berkeley CA 94701 USA

Task Decomposition method for iterative learning model predictive control (TDMPC) for linear time-varying systems is presented. We consider the availability of state-input trajectories which solve an original task T1, and design a feasible MPC policy for a new task, T2, using stored data from T1. Our approach applies to tasks T2 which are composed of subtasks contained in T1. In this paper we formally define the task decomposition problem, and provide a feasibility proof for the resulting policy. The proposed algorithm reduces the computational burden for linear time-varying systems with piecewise convex constraints. Simulation results demonstrate the improved efficiency of the proposed method on a robotic path-planning task. Copyright (C) 2020 The Authors.

关键词： Data-based control Iterative and Repetitive Learning control linear model predictive control Convex Optimization

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