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Distributed Formation Flight Control of Multirotor Helicopters

JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS 2017年第4期28卷 502-515页

作者： Viana, Icaro Bezerra dos Santos, Davi Antonio Sandoval Goes, Luiz Carlos Acampora Prado, Igor Afonso Inst Tecnol Aeronaut Dept Flight Mech & Control BR-12228900 Sao Jose Dos Campos Brazil Inst Tecnol Aeronaut Dept Mechatron BR-12228900 Sao Jose Dos Campos Brazil

This paper treats the problem of position formation flight control of a group of three multirotor aerial vehicles under obstacle and collision avoidance constraints. In order to solve the problem, a distributed architecture with model predictive controllers for each vehicle includes a set of convex constraints on the vehicles's position to prevent collisions with other vehicles and obstacles. The resulting distributed scheme controls the formation based on a virtual structure approach where the computers of the architecture exchange position data through diagrams in Simulink. The performance of the method is assessed through simulations considering that the vehicles are subject to disturbance forces and the results show the effectiveness and the ability of the control architecture to handle the obstacle and collision avoidance constraints.

关键词： Unmanned aerial systems Model predictive control mixed-integer quadratic programming Obstacle avoidance Collision avoidance

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Pricing in non-convex markets with quadratic deliverability costs

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ENERGY ECONOMICS 2019年 80卷 123-131页

作者： Kuang, Xiaolong Lamadrid, Alberto J. Zuluaga, Luis F. Amazon Seattle WA 98109 USA Lehigh Univ Dept Ind & Syst Engn Dept Econ 621 Taylor St Bethlehem PA 18015 USA Lehigh Univ Dept Ind & Syst Engn 200 West Packer Ave Bethlehem PA 18015 USA

This article studies the problem of obtaining equilibrium clearing prices for markets with non-convexities when it is relevant to account for convex quadratic deliverability costs and constraints. In a general market, such a situation arises when quadratic commodity or transactions costs are relevant. In the particular case of electricity markets, there is a mix of resources including dispatchable and renewable energy sources, leading to the presence of integer variables and quadratic costs reflecting ramping needs. To illustrate our results, we compute and analyze the equilibrium clearing prices of the Scarfs classical market problem with the addition of ramping costs. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Market-clearing prices quadratic costs Ramping costs Unit commitment mixed-integer quadratic programming Renewable energy sources

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A SIMPLE PLANT-LOCATION MODEL FOR QUANTITY-SETTING FIRMS SUBJECT TO PRICE UNCERTAINTY

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EUROPEAN JOURNAL OF OPERATIONAL RESEARCH 1985年第1期21卷 39-46页

作者： HODDER, JE JUCKER, JV Department of Industrial Engineering and Engineering Management Stanford University Stanford California 94305 U.S.A.

The uncapacitated plant location problem under uncertainty is formulated in a mean-variance framework with prices in various markets correlated via their response to a common random factor. This formulation results in a mixed-integer quadratic programming problem. However, for a given integer solution, the resulting quadratic programming problem is amenable to a very simple solution procedure. The simplicity of this algorithm means that reasonably large problems should be solvable using existing branch-and-bound techniques.

关键词： Facilities location mixed-integer quadratic programming

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mixed integer programming For Sparse Coding: Application to Image Denoising

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IEEE TRANSACTIONS ON COMPUTATIONAL IMAGING 2019年第3期5卷 354-365页

作者： Liu, Yuan Canu, Stephan Honeine, Paul Ruan, Su Normandie Univ INSA Rouen UNIROUEN UNIHAVRELITIS F-76000 Rouen France

Dictionary learning for sparse representations is generally conducted in two alternating steps-sparse coding and dictionary updating. In this paper, a new approach to solve the sparse coding step is proposed. Because this step involves an l(0)-norm, most, if not all, existing solutions only provide a local or approximate solution. Instead, a real l(0) optimization is considered for the sparse coding problem providing a global solution. The proposed method reformulates the optimization problem as a mixed-integer quadratic program (MIQP), allowing then to obtain the global optimal solution by using an off-the-shelf optimization software. Because computing time is the main disadvantage of this approach, two techniques are proposed to improve its computational speed. One is to add suitable constraints and the other to use an appropriate initialization. The results obtained on an image denoising task demonstrate the feasibility of the MIQP approach for processing real images while achieving good performance compared to the most advanced methods.

关键词： mixed-integer quadratic programming sparse representation sparse coding dictionary learning image denoising K-SVD

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COMPENSATION OF VALVE DEADZONE USING mixed integer PREDICTIVE CONTROL 31

COMPENSATION OF VALVE DEADZONE USING MIXED INTEGER PREDICTIV...

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31st European Conference on Modelling and Simulation, ECMS 2017

作者： Novak, Jakub Chalupa, Petr Tomas Bata Univ Fac Appl Informat Ctr Secur Informat & Adv Technol Nam TGM 5555 Zlin 76001 Czech Republic

ISBN: (纸本)9780993244049

Stiction is a nonlinear friction phenomenon that causes poor performance of control loops in the process industries. In this work, we develop a mixed-integer MPC (Model Predictive Control) formulation including valve dynamics for a sticky valve in order to improve control loop performance. The introduction of the valve nonlinearity into the model prevents the MPC from requesting physically unrealistic control actions due to valve stiction. Simulation studies using a two-tank systems show that, if the deadband value is known a priori, the mixed-integer quadratic programming (MIQP) can effectively improve the closed-loop performance in the presence of valve stiction.

关键词： Predictive control mixed-integer quadratic programming Valve deadzone Hybrid system

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Comparison between Optimal Control Allocation with mixed quadratic & Linear programming Techniques

Comparison between Optimal Control Allocation with Mixed Qua...

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10th IFAC Conference on Control Applications in Marine Systems (CAMS)

作者： Grechi, Simone Caiti, Andrea Univ Pisa Dept Informat Engn Pisa Italy Univ Pisa Ctr E Piaggio Pisa Italy Interuniv Ctr Integrated Syst Marine Environm ISM Genoa Italy

The paper provides a comparison between different control allocation techniques in over-actuated Autonomous Underwater Vehicles. The pseudoinverse, Linear programming (LP), quadratic programming (QP), mixed integer Linear programming (MILP) and mixed integer quadratic programming (MIQP) are evaluated in simulation on the V-Fides vehicle model. The MILP and MIQP techniques allow to include in their implementations a more detailed characterization of the non-linear static behaviour of the actuators. This customizability can be also exploited to improve the practical stability of the system. The metrics used for comparison include the maximum attainable forces and torques, the integral of the error allocation and the required thrusters effort. Our simulation results show that, in particular with respect to thrusters effort, MILP and MIQP are the preferred allocation methods. The computational complexity associated to both methods is not such to compromise their implementation in operating vehicles;in particular, the MILP version is currently implemented in the V-Fides vehicle. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Optimal Control allocation quadratic programming Linear programming mixed-integer Linear programming mixed-integer quadratic programming

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Solving mixed-integer quadratic Programs via Nonnegative Least Squares

Solving Mixed-Integer Quadratic Programs via Nonnegative Lea...

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5th IFAC Conference on Nonlinear-Model-Predictive-Control (NMPC)

作者： Bemporad, Alberto IMT Inst Adv Studies Lucca Lucca Italy

'Phis paper proposes a new algorithm for solving mixed-integer quadratic Program =r=ing (MIQP) problems The algorithm is particularly tailored to solving small-scale \1IQPs such as those that arise in embedded hybrid Model Predictive Control (A/1PC) applications. The approach combines branch and bound (B&B) with nonnegative least squares (NNLS), that are used to solve quadratic programming (QP) relaxations. The QP algorithm extends a method recently proposed by the author for solvingstrictly convex. QP's, by (i) equality and bilateral inequality constraints, (ii,) warm starting, and (ii) exploiting easy-to-compute lower hounds 011 the optimal cost to reduce the 1'1 ibe r of QP iterations required to solve the relaxed problems. The proposed MIQP algorithm has a speed of execution that is comparable to stateof-the-art commercial MIQP solvers and is relatively simple to code, as it requires only basic arithmetic operations to solve least-square problems.

关键词： mixed-integer quadratic programming quadratic programming Active set methods Nonnegative least squares Model predictive control Hybrid systems

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Subtask-Level Elastic Scheduling 45

Subtask-Level Elastic Scheduling

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45th Real Time Systems Symposium

作者： Sudvarg, Marion Wang, Daisy Buhler, Jeremy Gill, Chris Washington Univ Dept Comp Sci & Engn St Louis MO 14263 USA

ISBN: (纸本)9798331540265;9798331540272

Buttazzo et al.'s elastic scheduling model allows task utilizations to be "compressed" to ensure schedulability atop limited resources. Each task is assigned a range of acceptable utilizations and an "elastic constant" representing the relative adaptability of its utilization. In this paper, we consider federated scheduling, under which each high-utilization parallel task is assigned dedicated processor cores. We propose a new model of elastic workload compression for parallel DAG tasks that assigns each subtask its own elastic constant and continuous range of acceptable workloads. We show that the problem can be solved offline as a mixed-integer quadratic program, or online using a pseudo-polynomial dynamic programming algorithm. We also consider joint core allocation and compression of low-utilization sequential tasks and present a mixed-integer linear program for optimal elastic compression of tasks under partitioned EDF scheduling. We show empirical improvements in schedulability over the prior work and present a case study for the Fast Integrated Mobility Spectrometer (FIMS).

关键词： atmospheric aerosol monitoring elastic scheduling federated scheduling mixed-integer quadratic programming parallel dag tasks real-time systems

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Embedded mixed-integer quadratic Optimization using Accelerated Dual Gradient Projection

Embedded Mixed-Integer Quadratic Optimization using Accelera...

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Naik, Vihangkumar V. Bemporad, Alberto IMT Sch Adv Studies Lucca Lucca Italy

The execution of a hybrid model predictive controller (MPC) on an embedded platform requires solving a mixed-integer quadratic programming (MIQP) in real time. The MIQP problem is NP-hard, which poses a major challenge in an environment where computational and memory resources are limited. To address this issue, we propose the use of accelerated dual gradient projection (GPAD) to find both the exact and an approximate solution of the MIQP problem. In particular, an existing GPAD algorithm is specialized to solve the relaxed quadratic programming (QP) subproblems that arise in a Branch and Bound (B&B) method for solving the MIQP to optimality. Furthermore, we present an approach to find a suboptimal integer feasible solution of a MIQP problem without using B&B. The GPAD algorithm is very simple to code and requires only basic arithmetic operations which makes it well suited for an embedded implementation. The performance of the proposed approaches is comparable with the state of the art MIQP solvers for small-scale problems. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： mixed-integer quadratic programming quadratic programming Accelerated gradient projection model predictive control hybrid systems

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Moving Horizon Estimation for hybrid systems

Moving Horizon Estimation for hybrid systems

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2000 American Control Conference (ACC 2000)

作者： Ferrari-Trecate, G Mignone, D Morari, M ETH Zurich Swiss Fed Inst Technol Inst Automat CH-8092 Zurich Switzerland

ISBN: (纸本)0780355202

In this paper, by exploiting the equivalence between hybrid systems modeled in the mixed Logic Dynamical form and Piece-Wise Affine systems, we propose a state smoothing algorithm based on Moving Horizon Estimation (MHE). We provide sufficient conditions on the time horizon and the initial penalties to guarantee asymptotic convergence of the MHE scheme. Moreover we propose an algorithm for the computation of the initial penalties that allows to implement MHE by solving mixed-integer quadratic Programs.

关键词： hybrid systems state estimation observability piecewise affine systems mixed-integer quadratic programming

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