This paper presents a method for control of formations of Unmanned Aerial Vehicles (UAVs) in urban environments with several obstacles. Therefore the trajectories for each UAV are planned using mixedintegerquadratic...
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This paper presents a method for control of formations of Unmanned Aerial Vehicles (UAVs) in urban environments with several obstacles. Therefore the trajectories for each UAV are planned using mixed integer quadratic programming (MIQP) to describe a minimization problem. The result of this minimization problem then characterizes a collision free trajectory for each UAV using the commanded formations to fulfil the missions. The description of the UAVs, the inter UAV collision avoidance, the collision avoidance with obstacles as well as the description of formations will be shown in detail together with some simulation results in this paper. In addition the introduction explains the fields of interest in such formations of UAVs and what kind of advantage they can bring in comparison to today's solutions. The novelty in the approach in this paper is the description of formations of UAVs used in combination with MIQP to change formations, to add additional UAVs into an existing formation and to split formations, simply by changing some parameters in the description of the formation.
In this study a procedure to design multiple model switching predictive controllers (MMSPC) is proposed for the nonlinear dynamic processes with large operation regions. To facilitate the MMSPC design, a general mixed...
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In this study a procedure to design multiple model switching predictive controllers (MMSPC) is proposed for the nonlinear dynamic processes with large operation regions. To facilitate the MMSPC design, a general mixed logic dynamic system (MLDS) model is proposed for approximating the nonlinear processes. A major contribution of this study is to integrate a number of techniques to form a novel procedure, and therefore to make multistep state and output predictions effectively realizable within the frame of multiple model switching control. A case for support is presented to demonstrate the efficiency of the design procedure.
The mixed Logical Dynamical (MLD) formalism has proved to be an efficient modelling framework for hybrid systems described by dynamics, logic and constraints. Furthermore, it allows formulating and solving problems su...
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ISBN:
(纸本)0780383354
The mixed Logical Dynamical (MLD) formalism has proved to be an efficient modelling framework for hybrid systems described by dynamics, logic and constraints. Furthermore, it allows formulating and solving problems such as control, using for example predictive strategies. However, its main drawback remains the computation load due to the complexity of the mixed integer quadratic programming (MIQP) to be solved. To overcome this problem, this paper presents an innovative technique splitting the global state space to polyhedral subregions, leading to a multi-MLD model. Inside each subregion, a restricted smaller size MLD model can be developed taking into account only variables variations that may occur in this subregion. This approach enables to considerably reduce the computation time, for a more convenient real time implementation with small sampling time. This strategy is applied in simulation to the control of a three tanks benchmark.
A new approach to the design of Model Predictive Controller (MPC) that simultaneously addresses the actuator saturation and backlash is proposed in this paper. The discrete characteristics of the actuator backlash all...
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A new approach to the design of Model Predictive Controller (MPC) that simultaneously addresses the actuator saturation and backlash is proposed in this paper. The discrete characteristics of the actuator backlash allows one to reformulate the input constraints as a set of mixedinteger linear inequalities. As a result, the MPC is designed by solving a mixed-integerquadraticprogramming problem. Simulation results are presented to show how this new approach performs as compared to the existing techniques of the backlash compensation when they are applied to an industrial case study
The mixed Logical Dynamical (MLD) formalism has proved to be an efficient modelling framework for hybrid systems described by dynamics, logic and constraints. Furthermore, it allows formulating and solving practical p...
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The mixed Logical Dynamical (MLD) formalism has proved to be an efficient modelling framework for hybrid systems described by dynamics, logic and constraints. Furthermore, it allows formulating and solving practical problems such as control, using for example predictive strategies. However, its main drawback remains the computation load due to the complexity ofthe MIQPs to be solved. To overcome this problem, this paper presents a multi-MLD model, considering split state space regions inside which restricted simpler size MLD models take into account only variables variations that may occur. This approach enables to considerably reduce the computation time, to become more convenient for real time implementation even with small sampling time. This strategy is applied in simulation to the control of a three tanks benchmark.
The solution of convex mixed-integerquadraticprogramming (MIQP) problems with a general branch-and-bound framework is considered. It is shown how lower bounds can be computed efficiently during the branch-and-bound ...
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The solution of convex mixed-integerquadraticprogramming (MIQP) problems with a general branch-and-bound framework is considered. It is shown how lower bounds can be computed efficiently during the branch-and-bound process. Improved lower bounds such as the ones derived in this paper can reduce the number of quadraticprogramming (QP) problems that have to be solved. The branch-and-bound approach is also shown to be superior to other approaches in solving MIQP problems. Numerical experience is presented which supports these conclusions.
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