This paper presents a novel implementation of a constrained predictive control (MPC) algorithm. The MPC algorithm is based on Laguerre predictions and multi-parametric solutions guaranteeing larger feasibility sets, l...
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ISBN:
(纸本)9781846000386
This paper presents a novel implementation of a constrained predictive control (MPC) algorithm. The MPC algorithm is based on Laguerre predictions and multi-parametric solutions guaranteeing larger feasibility sets, low computational burden and memory storage. Specifically the paper discusses programming of MPC in an industrial Programable Logic controller (PLC) software. A laboratory experiment test was carried out to demonstrate the code on real hardware. The result of this work serve as an encouragement to further investigate the potential for developing efficient algorithms within off the shelf industrial standard hardware.
In this paper, it is applied a method for parameter estimation of ship linear maneuvering models with a standard zig-zag maneuver. The parameter estimation is made based on prediction error methods, using the Kalman f...
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In this paper, it is applied a method for parameter estimation of ship linear maneuvering models with a standard zig-zag maneuver. The parameter estimation is made based on prediction error methods, using the Kalman filter for the states estimation. It is suggested two cases of study: one in simulation and another one with data acquired in open waters. Thus, it is posible to quantify the statistical properties of the estimator by means of Monte Carlo simulation and to validate the model with simulated and acquired data.
control design and analysis are numerically demanding and thus can be done efficiently only with suitable computer software. This paper looks at the use of MATLAB for supporting student learning of two types of contro...
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ISBN:
(纸本)9781846000386
control design and analysis are numerically demanding and thus can be done efficiently only with suitable computer software. This paper looks at the use of MATLAB for supporting student learning of two types of control methodologies: (i) classical control in frequency response and (ii) model predictive control. The paper will first discuss the pedagogical background of how MATLAB supports learning and why MATLAB is the software of choice. This is followed by a description of some of the MATLAB tools that have been created. The paper is completed by some student evaluation of their experiences.
This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller for...
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This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.
We consider the safety of a V-bar hopping manoeuvre which forms part of the final stage in autonomous space rendezvous. This manoeuvre is controlled by thrusters: we assume these inputs are perfect impulses and model ...
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ISBN:
(纸本)9783902661968
We consider the safety of a V-bar hopping manoeuvre which forms part of the final stage in autonomous space rendezvous. This manoeuvre is controlled by thrusters: we assume these inputs are perfect impulses and model the system in a hybrid automaton framework. We consider the operation of the system under bounded parametric uncertainties, e.g. thruster misalignment, and use the concept of Barrier function certificates to assess system safety. This methodology provides an efficient tool for the systematic investigation of the safety property and does not rely on Monte-Carlo simulations. In particular, the existence of a Barrier function certificate guarantees that all trajectories of the system starting from a given initial set do not enter a predefined unsafe region under any possible combination of parameter deviations. Such a Barrier function certificate can be constructed efficiently using the Sum of Squares (SOS) decomposition and semi-definite programming (SDP).
This paper develops parametric approaches to predictive control but differs from more conventional approaches in that it pre-defines the complexity of the solution rather than the allowable suboptimality. The paper pr...
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The paper developed a block-wise approach for ICA algorithms which can improve the computational efficiency of ICA without the degradation of performance for the separation of biomedical signals. Source signals includ...
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This paper a particle swarm optimization (PSO) algorithm with dynamic spread factor inertia weight and it application to dynamic modeling of a flexible beam structure. In this study, system identification scheme based...
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This paper presents investigations of modeling the flexible plate structures using particle swarm optimization (PSO) and active vibration control (AVC) of such structures. The optimization technique is utilized to obt...
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This paper proposes and gives evidence supporting a team based approach to the design and implementation of engineering curricula. It shows how such an approach allows the effective integration of many different learn...
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ISBN:
(纸本)9781846000386
This paper proposes and gives evidence supporting a team based approach to the design and implementation of engineering curricula. It shows how such an approach allows the effective integration of many different learning outcomes to give a coherent student experience. Finally, it uses examples to illustrate where the web and other technology can be invaluable tools for the delivery of a holistic curriculcum.
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