To study the effects of uncertainty in autonomous motion planning and control, an 8-DOF model of a tractor-semitrailer is implemented and analyzed. The implications of uncertainties in the model are then quantified an...
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We study model predictive control (MPC) problems for stochastic LTI systems, where the noise distribution is unknown, compactly supported, and only observable through a limited number of i.i.d. noise samples. Building...
We study model predictive control (MPC) problems for stochastic LTI systems, where the noise distribution is unknown, compactly supported, and only observable through a limited number of i.i.d. noise samples. Building upon recent results in the literature, which show that distributional uncertainty can be efficiently captured within a Wasserstein ambiguity set, and that such ambiguity sets propagate exactly through the system dynamics, we start by formulating a novel Wasserstein Tube MPC (WT-MPC) problem. We then show that the WT-MPC problem: (1) is a direct generalization of the (deterministic) Robust Tube MPC (RT-MPC) to the stochastic setting; (2) through a scalar parameter, it interpolates between the data-driven formulation based on sample average approximation and the RT-MPC formulation, allowing us to optimally trade between safety and performance; (3) admits a tractable convex reformulation; and (4) is recursively feasible. We conclude with a numerical comparison of WT-MPC and RT-MPC.
Dear Editor,This letter addresses the resilient model predictive control(MPC)problems for adaptive cruise control(ACC)systems under sensor *** the light of vulnerabilities of ACC systems to sensor attacks,an intrusion...
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Dear Editor,This letter addresses the resilient model predictive control(MPC)problems for adaptive cruise control(ACC)systems under sensor *** the light of vulnerabilities of ACC systems to sensor attacks,an intrusion detection mechanism is proposed at the controller side to distinguish abnormal ***,the robust control gains are derived to design the terminal region constraint for MPC.
We study model predictive control (MPC) problems for stochastic LTI systems, where the noise distribution is unknown, compactly supported, and only observable through a limited number of i.i.d. noise samples. Building...
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This paper presents an assay of the dynamic state of charge characteristics of a Li-ion battery. It is proposed an approach of forecasting battery’s state of charge that can be used by battery management system to pr...
This paper presents an assay of the dynamic state of charge characteristics of a Li-ion battery. It is proposed an approach of forecasting battery’s state of charge that can be used by battery management system to predict the remained quantity of charge within the battery at a certain time, based on real time data acquisition and using a simplified electrical circuit model that simulates, with small errors, the battery signal, with experimentally validation of the results.
Interconnections between AC power systems,power transmission with higher efficiency,and aggregation and delivery of power from offshore wind farms to different AC regions are among the main drivers for the development...
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Interconnections between AC power systems,power transmission with higher efficiency,and aggregation and delivery of power from offshore wind farms to different AC regions are among the main drivers for the development of HVDC *** grids can result in lower demand variability,higher flexibility,superior electricity market management,and higher economic *** is expected that isolated HVDC systems transition to an HVDC grid that overlays the existing AC *** a substantial development also results in a number of critical technical challenges related to system control,operation,and protection,which should be properly and accurately *** Special Issue focuses on the recent achievements and advancements in overcoming these *** papers for publications in this Special Issue fall into four major topics:devices,control,operation,and protection.
This work is dedicated to a less conservative observer-based controller design LMI method for discrete-time quasilinear systems with polynomial parameter dependencies subject to stochastic noise. While robust closed l...
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In this paper, the solvability of the Inverse Optimal control (IOC) problem based on two existing minimum principal methods, is analysed. The aim of this work is to answer the question regarding what kinds of trajecto...
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This paper explores alterations in the thermal behavior of rewound induction motors with the aim of achieving functional characteristics different from those initially established during the design process. Through th...
This paper explores alterations in the thermal behavior of rewound induction motors with the aim of achieving functional characteristics different from those initially established during the design process. Through the utilization of Motor-CAD software, the distribution of temperatures within the induction motor structure is analyzed. It is revealed that when rewinding is performed to attain alternative functional characteristics while maintaining the required magnetic field strength, induction motor forces, and current density, the resulting thermal regime differs significantly from the reference version. This divergence can profoundly impact the motor’s operational lifespan.
The interaction effects among individual loops and multiple time delays are the prime reasons for degrading the closed-loop performance of multivariable systems. For highly interacting systems, decouplers are used to ...
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ISBN:
(数字)9798350350821
ISBN:
(纸本)9798350350838
The interaction effects among individual loops and multiple time delays are the prime reasons for degrading the closed-loop performance of multivariable systems. For highly interacting systems, decouplers are used to counteract interaction effects. However, decouplers may not be realizable and even if they are realizable, for high dimensional systems, decoupler elements may be complex. To improve the decoupler realizability, a dead-time compensation (DTC) approach is proposed in this work. The DTC framework can minimise the impact of dead-time on system dynamics. The proposed decoupler is designed based on the dynamic relative gain array (DRGA) to compensate for interaction effects. The DRGA reveals more insights about the coupling effect between a pair of input-output loops. The DRGA elements are used as decoupler elements for the multivariable process. The minimization of both interaction effects and dead-time dynamics can be achieved with the proposed DTC-based decoupling control approach. The simple IM C PI tuning rules are utilized to implement controllers for each loop. The simulation study affirming the proposed method provides better desired closed-loop performance, error indices for nominal and plant model mismatches, and robust stability against plant uncertainty over the popular existing decoupler based approaches.
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