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Autonomous navigation with convergence guarantees in complex dynamic environments☆

AUTOMATICA 2025年 173卷

作者： Dahlin, Albin Karayiannidis, Yiannis Chalmers Univ Technol Dept Elect Engn SE-41296 Gothenburg Sweden Lund Univ LTH Dept Automat Control SE-22100 Lund Sweden

This article addresses the obstacle avoidance problem for setpoint stabilization tasks in complex dynamic 2-D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and controller is proposed that integrates the favorable convergence characteristics of closed-form motion planning techniques with the intuitive representation of system constraints through Model Predictive control (MPC). The method is analytically proven to accomplish collision avoidance and convergence under soft conditions. Simulation scenarios using a non-holonomic unicycle robot is provided to showcase the efficacy of the control scheme. (c) 2024 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY license (http://***/licenses/by/4.0/).

关键词： Guidance navigation and control Autonomous systems modeling for control optimization control of constrained systems

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Point-to-point control near heteroclinic orbits: Plant and controller optimality conditions

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AUTOMATICA 2013年第12期49卷 3562-3570页

作者： Paden, Brian A. Moehlis, Jeff Univ Calif Santa Barbara Dept Mech Engn Santa Barbara CA 93106 USA

In this paper we consider the simultaneous optimization of the controller and plant in a one degree-of-freedom system. In particular we are interested in optimal trajectories between fixed points connected by heteroclinic orbits. We find that designing the plant dynamics to have a heteroclinic connection between target states enables a low energy transfer between the states. We use a nested optimization strategy to find the optimal plant dynamics and control effort for the transition. Additionally, we uncover plant optimality conditions which reduce the complexity of the optimization. Published by Elsevier Ltd

关键词： modeling for control optimization Application of nonlinear analysis and design optimization Optimal control Heteroclinic orbit

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A dynamic model used for controller design of a coal fired once-through boiler-turbine unit

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ENERGY 2015年第Part2期93卷 2069-2078页

作者： Liu, Ji-Zhen Yan, Shu Zeng, De-Liang Hu, Yong Lv, You North China Elect Power Univ State Key Lab Alternate Elect Power Syst Renewabl Beijing 102206 Peoples R China

Supercritical OTB (once-through boiler) units with high steam temperature and pressure have been widely used in modern power plants due to their high cycle efficiency and less emissions. To ensure the effective operation of such power generation systems, it is necessary to build a model for the design of the overall control system. There are already detailed models of once-through boilers;however, their complexity prevents them from being applied in the controller design. This study describes a lumped parameter dynamic model that has a relatively low complexity while faithfully capturing the essential overall plant dynamics. The model structure was derived by fundamental physical laws utilizing reasonable simplifications and data analysis to avoid the phase transition position problem. Parameter identification for the model structure was completed using operational data from a 1000 MW ultra-supercritical OTB. The model was determined to be reasonable by comparison tests between computed data and measured data for both steady and dynamic states. The simplified model is verified to have appropriate fidelity in control system design to achieve effective and economic operation of the unit. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Once-through boiler Nonlinear model modeling for control optimization Parameter identification

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Distributed parameter modeling and finite-frequency loop-shaping of electromagnetic molding machine

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control ENGINEERING PRACTICE 2013年第12期21卷 1735-1743页

作者： Ishizaki, Takayuki Kashima, Kenji Imura, Jun-ichi Katoh, Atsushi Morita, Hiroshi Aihara, Kazuyuki Tokyo Inst Technol Grad Sch Informat Sci & Engn Tokyo 152 Japan Osaka Univ Grad Sch Engn Sci Toyonaka Osaka 560 Japan Sumitomo Heavy Ind Ltd Yokosuka Kanagawa Japan Univ Tokyo Inst Ind Sci Meguro Ward Tokyo Japan

We derive a mathematical model for an electromagnet inside a molding machine, and propose a novel loop-shaping method of the proportional-integral (PI) controller design for the system based on the generalized KYP (GKYP) lemma. The behavior of the molding machine is difficult to capture by using finite-dimensional models owing to eddy currents spatially distributed throughout the electromagnet. To analyze fundamental properties of the system both theoretically and experimentally, we first derive a mathematical model of the machine in terms of a partial differential equation (PDE). An analysis using the PDE model shows that a low-dimensional approximation performed by standard spatial discretization results in a spillover effect, which makes the behavior of the closed-loop system oscillatory. Then, to develop an easily tunable and implementable control system, we propose a novel loop-shaping method for PI control on the basis of the GKYP lemma. In this control system design, we use multiple low-dimensional models, which work simultaneously in specified finite frequency ranges. The proposed method successfully suppresses the spillover effect despite the use of low-dimensional approximants. Finally, we show the efficiency of the proposed control design method through numerical and experimental verification and discuss a performance limitation of the PI control. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： Industrial applications of optimal control modeling for control optimization Infinite-dimensional systems Generalized KYP lemma Electromagnet

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Subgame consistent cooperative solution for NTU dynamic games via variable weights

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AUTOMATICA 2015年 59卷 84-89页

作者： Yeung, David W. K. Petrosyan, Leon A. St Petersburg State Univ Ctr Game Theory St Petersburg 199034 Russia Shue Yan Univ SRS Consortium Adv Study Dynam Cooperat Games Hong Kong Hong Kong Peoples R China St Petersburg State Univ Fac Appl Math Control Proc St Petersburg 199034 Russia

In cooperative dynamic games a stringent condition - subgame consistency - is required for a dynamically stable solution. In particular, a cooperative solution is subgame consistent if the optimality principle agreed upon at the outset remains in effect in any subgame starting at a later stage with a state brought about by prior optimal behavior. Hence the players do not have incentives to deviate from the previously adopted optimal behavior. For the first time, subgame consistent solutions in cooperative dynamic games with non-transferable payoffs/utility (NTU) using a variable payoff weights scheme is analyzed. A solution mechanism for characterizing subgame consistent solutions is derived. The use of a variable payoff weights scheme allows the derivation of subgame consistent solutions under a wide range of optimality principles. The analysis widens the application of NTU cooperative dynamic games through the provision of a dynamically stable solution. (C) 2015 Published by Elsevier Ltd.

关键词： Dynamic games Multi-agent systems Subgame consistent cooperative solution modeling for control optimization

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On the formulation of cost functions for torque-optimized control of rigid bodies

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AUTOMATICA 2014年第10期50卷 2723-2725页

作者： O'Reilly, Oliver M. Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

In the context of controlling the attitude of a rigid body, this communique uses recent results on representations of torques (moments) to establish cost functions. The resulting cost functions are both properly invariant under whatever choice of Euler angles is used to parameterize the rotation of the rigid body and have transparent physical interpretations. The function is related to existing works in geometric control theory and applications of optimal control theory to biomechanical systems. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Kinetic modeling and control of biological systems Model formulation modeling for control optimization Rotations Torques

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Simplified Energy-Efficient Adaptive Cruise control based on Model Predictive control

Simplified Energy-Efficient Adaptive Cruise Control based on...

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

作者： Lin, Xiaohai Goerges, Daniel Weissmann, Andreas Univ Kaiserslautern Juniorprofessorship Eleetromobil Erwin Schrodinger Str 12 D-67663 Kaiserslautern Germany

This paper presents a simplified approach for energy-efficient adaptive cruise control based on model predictive control (MPC). The goal of the approach is to reduce the energy consumption of a controlled vehicle by using MPC to smoothen the velocity profile such that the acceleration and deceleration are minimized considering available environment information. In the vehicle following scenario, the controlled vehicle is allowed to move in an inter-vehicle distance corridor bounded by a safe minimal distance and a maximal distance. Thereby aspects of road safety and traffic efficiency are addressed. Nonlinear system limitations are approximated with linear constraints. As a result, a quadratic programming problem with linear constraints is formulated, which can be solved using standard methods. A simulation study using velocity profiles for the leading vehicle from real trips and therefore capturing realistic traffic situations is presented. The energy consumption of the controlled and the leading vehicle is evaluated using an electric vehicle model from the literature. Comparisons between the controlled vehicle and the leading vehicle indicate fair energy savings. Furthermore, the computational complexity of the optimization strategy is investigated. A reasonable compromise between real-time capability and energy consumption reduction is obtained. (C) 2017, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Adaptive cruise control model predictive control electric vehicles energy efficiency modeling for control optimization

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Gait analysis using optimality criteria imputed from human data

Gait analysis using optimality criteria imputed from human d...

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

作者： Panchea, Adina M. Miossec, Sylvain Buttelli, Olivier Fraisse, Philippe Van Hamme, Angele Welter, Marie-Laure Ramdani, Nacim Univ Orleans INSA PRISME CVLEA4229 F-45072 Orleans France Univ Montpellier 2 CNRS LIRMM UMR 5506 161 Rue Ada F-34392 Montpellier France UPMC Paris 6 Grp Hosp Pitie Salpetriere CNRS INSERMBEBG TeamUMRS 975UMR 7225 F-75013 Paris France

This study proposes an efficient and automatic tool to understand and analyze the human natural and fast gait tasks. First, the gait tasks are modeled as a nonlinear optimal control problem along with a nonlinear model predictive control, usually used in the humanoid robots control. Second, under the assumption that the walking motions are the result of an optimization process, the identification of plausible optimality criteria weight values is achieved with an inverse optimal control (IOC) approach. Our IOC walking scheme is performed on ten subjects with ten trials for each gait task considered. Results show that the variability observed in the experimental data are exhibited by our proposed scheme. Finally, an easy distinguish can be made between the gait tasks only by checking out the exhibited criteria weight values. (C) 2017, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Optimal control theory Inverse optimal control modeling for control optimization Identification and control methods Human walking control Trajectory and Path Planning

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Trajectory planning of soft link robots with improved intrinsic safety

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IFAC-PapersOnLine 2017年第1期50卷 6016-6021页

作者： Lismonde A. Sonneville V. Brüls O. Department of Aerospace & Mechanical engineering University of Liège Belgium Aerospace Engineering University of Maryland United States

For human-robot cooperation, intrinsic safety approaches aim at reducing the energy involved in the motion of the robotic system and at increasing the system compliance in order to reduce the risk of injury in case of an unexpected collision. Robots based on lightweight and inherently flexible links exhibit attractive features in this context but the control of their motion then leads to a tremendous challenge. This paper presents a novel trajectory planning method for 3D robots which aims at improving the tracking accuracy despite the link flexibility. © 2017

关键词： control of constrained systems modeling modeling for control optimization Nonlinear predictive control Robots manipulators Tracking Vibration control

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Dynamic analysis and performance assessment of the Inertial Sea Wave Energy Converter (ISWEC) device via harmonic balance 14

Dynamic analysis and performance assessment of the Inertial ...

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14th IFAC Conference on control Applications in Marine Systems, Robotics, and Vehicles (CAMS)

作者： Carapellese, Fabio Pasta, Edoardo Faedo, Nicolas Giorgi, Giuseppe Politecn Torino Dept Mech & Aerosp Engn Marine Offshore Renewable Energy Lab I-10129 Turin Italy

Given the particular energy-maximising performance objective, wave energy converter (WEC) systems are prone to exhibit highly nonlinear behaviour. We present, in this paper, a detailed dynamic analysis and control synthesis for the Inertial Sea Wave Energy Converter (ISWEC) system, deriving and considering a comprehensive associated nonlinear model. In particular, we adopt a harmonic balance (HB) method to achieve this objective, producing the so-called amplitude-frequency curves (AFC) for the corresponding ISWEC nonlinear model, derived via a Lagrangian approach. We demonstrate that the system can present a variety of different behaviours which are completely neglected by its linear model counterpart. Leveraging both the efficiency, and convenient representation of the HB method, we synthesise so-called `passive' (i.e. proportional) energy-maximising controllers using a variety of input conditions. We provide a comparison of the obtained control parameters with those arising from standard linear modelling, showing a consistent improvement in performance by effectively considering the relevant nonlinear ISWEC dynamics. Copyright (C) 2022 The Authors.

关键词： modeling Wave energy converters Application of nonlinear analysis and design modeling for control optimization Energy systems

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