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A LOGARITHMIC-TIME SOLUTION TO THE POINT LOCATION PROBLEM FOR CLOSED-FORM LINEAR MPC

IFAC Proceedings Volumes 2005年第1期38卷 117-122页

作者： C.N. Jones P. Grieder S.V. Raković Control Group Department of Engineering University of Cambridge Trumpington Street Cambridge CB2 1PZ UK Automatic Control Laboratory Swiss Federal Institute of Technology Physikstrasse 3 ETL K13.2 CH-8092 Zurich Imperial College London Exhibition Road London SW7 2BT United Kingdom

Closed-form Model Predictive control (MPC) results in a polytopic subdivision of the set of feasible states, where each region is associated with an affine control law. Solving the MPC problem on-line then requires determining which region contains the current state measurement. This is the so-called point location problem. For MPC based on linear control objectives (e.g., 1- or ∞-norm), we show that this problem can be written as an additively weighted nearest neighbour search that can be solved on-line in time linear in the dimension of the state space and logarithmic in the number of regions. We demonstrate several orders of magnitude sampling speed improvement over traditional MPC and closed-form MPC schemes.

关键词： Predictive control Parametric Programming controller Complexity

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Wireless-control strategy for parallel operation of distributed generation inverters

Wireless-control strategy for parallel operation of distribu...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： J.M. Guerrero J. Matas L.G. de Vicuna N. Berbel J. Sosa Department of Automatic Control and Computer Engineering Universitat Poliltècnica de Catalunya Spain Sustainable Distributed Generation Systems and Renewable Energy Group Escola Universitària d'Enginyeria Tècnica Industrial de Barcelona Barcelona Spain Department of Electronic Engineering Universitat Poliltècnica de Catalunya Spain Laboratorio de Instrumentación Científica Universidad de Los Andes Merida Venezuela

In this paper, a method for the parallel operation of inverters in an ac-distributed system is proposed. The paper explores the control of active and reactive power flow through the analysis of the output impedance of the inverters and its impact on the power sharing. As a result, adaptive virtual output impedance is proposed in order to achieve a proper reactive power sharing regardless of the line impedance unbalances. A soft-start operation is also included, avoiding the initial current peak, which results in a seamless hot-swap operation. Active power sharing is achieved by adjusting the frequency in load transient situations only, thanks to which the proposed method obtains constant steady-state frequency and amplitude. As opposed to the conventional droop method, the transient response can be modified by acting on the main control parameters. Linear and nonlinear loads can be properly shared due to the addition of a current harmonic loop in the control strategy. Experimental results are presented from a two 6-kVA parallel-connected inverters system, showing the feasibility of the proposed approach.

关键词： Distributed control Inverters Voltage control Power harmonic filters Impedance Frequency Power engineering and energy Reactive power control Reactive power Communication system control

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On-line multiobjective automatic control system generation by evolutionary algorithms

On-line multiobjective automatic control system generation b...

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2004 IEEE International Symposium on Industrial Electronics, IEEE-ISlE

作者： Stewart, P. Stone, D.A. Fleming, P.J. Electrical Machines and Drives Research Group Department of Electronic and Electrical Engineering University of Sheffield United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

Evolutionary algorithms are applied to the online generation of servo-motor control systems. In this paper, the evolving population of controllers is evaluated at run-time via hardware in the loop, rather than on a simulated model. Disturbances are also introduced at run-time in order to produce robust performance. Multiobjective optimisation of both PI and Fuzzy Logic controllers is considered. Finally an on-line implementation of Genetic Programming is presented based around the Simulink standard blockset. The on-line designed controllers are shown to be robust to both system noise and external disturbances while still demonstrating excellent steadystate and dvnamic characteristics.©2004 IEEE.

关键词： controllers

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Iterative learning control - the state of the art

Iterative learning control - the state of the art

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2004 IFAC Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2004 and IFAC Workshop on Periodic control systems, PSYCO 2004

作者： Owens, D.H. Hätönen, J. Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

The area if Iterative Learning control (ILC) has emerged from robotics to form a new and exciting challenge for control theorists and practitioners. There is great potential for applications to systems with a naturally repetitive action where the transfer of data from repetition (trial or iteration) can lead to substantial improvements in tracking performance. Although many of the challenges met in control systems design are familiar, there are several serious issues arising from the "2D" structure of ILC and a number of new problems requiring new ways of thinking and design. This paper introduces some of these issues from the point of view of the research group at Sheffield University and, for simplicity of presentation, concentrates on the case of linear systems and the potential for the use of optimization methods to achieve effective control. Copyright © 2004 IFAC

关键词： Linear systems

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Iterative learning control - The state of the art

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IFAC Proceedings Volumes 2004年第12期37卷 51-62页

作者： D.H. Owens J. Hätönen Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD

The area if Iterative Learning control (ILC) has emerged from robotics to form a new and exciting challenge for control theorists and practitioners. There is great potential for applications to systems with a naturally repetitive action where the transfer of data from repetition (trial or iteration) can lead to substantial improvements in tracking performance. Although many of the challenges met in control systems design are familiar, there are several serious issues arising from the “2D” structure of ILC and a number of new problems requiring new ways of thinking and design. This paper introduces some of these issues from the point of view of the research group at Sheffield University and, for simplicity of presentation, concentrates on the case of linear systems and the potential for the use of optimization methods to achieve effective control.

关键词： Iterative learning control optimisation robust control

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On-line multiobjective automatic control system generation by evolutionary algorithms

On-line multiobjective automatic control system generation b...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： P. Stewart D.A. Stone P.J. Fleming Electrical Machines and Drives Research Group Department of Electronic and Electrical Engineering University of Sheffield UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Evolutionary algorithms are applied to the on-line generation of servo-motor control systems. In this paper, the evolving population of controllers is evaluated at run-time via hardware in the loop, rather than on a simulated model. Disturbances are also introduced at run-time in order to produce robust performance. Multiobjeciive optimisation of both PI and fuzzy logic controllers is considered. Finally an on-line implementation of genetic programming is presented based around the Simulink standard blockset. The on-line designed controllers are shown to be robust to both system noise and external disturbances while still demonstrating excellent steady-state and dynamic characteristics.

关键词： automatic generation control Evolutionary computation control systems Runtime Noise robustness automatic control Hardware Fuzzy logic Genetic programming Robust control

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Solution of the manufacturing transportation control using Petri Nets 2

Solution of the manufacturing transportation control using P...

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2nd IFAC Conference on control systems Design, CSD 2003

作者： Hruz, Branislav Mrafko, Leo Slovak University of Technology Faculty of Electrical Engineering and Information Technology Department of Automatic Control Systems Ilkovicova 3 Bratislava81219 Slovakia

An analysis of the transportation systems used in the flexible manufacturing systems is introduced in the paper. Based on the analysis a class of the transportation systems is delimited, whose modeling and control is the subject of the paper. Important property of those systems is unidirectional zone movements of the automatic guided vehicles and transport requirements occurring spontaneously during the work of the system. A special group of the colored Petri nets interpreted for control is used for the control specification. The Petri net helps to analyze the function of the transportation system and to write the control program. © 2003 IFAC.

关键词： Petri nets

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Robust tracking performance enhancement through uncertainty division

Robust tracking performance enhancement through uncertainty ...

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2003 European control Conference, ECC 2003

作者： Gil-Martínez, M. García-Sanz, M. System Engineering and Automation Group Electrical Engineering Department University of La Rioja Luis de Ulloa 20 Logroño26004 Spain Automatic Control and Computer Science Department Public University of Navarra Campus Arrosadía s/n Pamplona31006 Spain

ISBN: (纸本)9783952417379

When the process uncertainty size increases, even linear minimum phase systems must sacrifice desirable aggressive feedback control benefits to avoid an excessive 'cost of feedback', while preserving the robust stability. With a suitable uncertainty division and a QFT controller-prefilter to command each uncertainty subset inside a controller-scheduler structure, it is possible to enhance the feedback tracking performance without an excessive bandwidth. To preserve the robust stability from any failure in the switching, each controller is designed to be stable in the whole uncertainty domain, and as accurate in command tracking as desired in its uncertainty subset. © 2003 EUCA.

关键词： Robust control

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Plant uncertainty contribution to QFT Tracking control design 4

Plant uncertainty contribution to QFT Tracking control desig...

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4th IFAC Symposium on Robust control Design, ROCOND 2003

作者： Martínez, G.-M. Sanz, G.-M. System Engineering and Automation Group Electrical Engineering Department University of La Rioja Luis de Ulloa. 20 Logrono26004 Spain Automatic Control and Computer Science Department Public University of Navarra Campus Arrosadia s/n Pamplona31006 Spain

Tracking feedback control trade-offs increase dangerously with arbitrarily large uncertainties in the process mode!. This is shown by the bounds in the QFT domain. In this context, the paper develops a theory on the contribution of the plant uncertainty to the tracking QFT bounds through a serious study of tracking bound formulas. From this, a methodology for uncertainty fragmentation is developed. It hopes to loosen the bound toughness, or the control design trade-offs. Better feedback benefits can be achieved while reducing the high-frequency amplification of noises and disturbances at the plant input at the same time. Different QFT controllers in a controller-scheduler structure should drive different uncertainty boundaries. © 2003 IFAC.

关键词： Robust control

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Solution of the manufacturing transport control using Petri Nets

Solution of the manufacturing transport control using Petri ...

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IEEE International Conference on systems, Man and Cybernetics

作者： B. Hruz Department of Automatic Control Systems Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia

关键词： Petri nets Transportation automatic control Flexible manufacturing systems Manufacturing systems control systems Job shop scheduling Manufacturing automation Vehicle dynamics Buffer storage

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