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Real-time MHE-based nonlinear MPC of a Pendubot system

IFAC-PapersOnLine 2015年第23期48卷 422-427页

作者： Gulan, M. Salaj, M. Abdollahpouri, M. Rohal-Ilkiv, B. Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia

This paper addresses the real-time optimal control of a Pendubot using nonlinear model predictive control (NMPC) combined with nonlinear moving horizon estimation (MHE). This fast, under-actuated nonlinear mechatronic system apparently poses a challenging benchmark problem that may benefit from a nonlinear optimization scheme. To overcome the related computational difficulties we make use of the ACADO Code Generation tool allowing to export a highly efficient Gauss-Newton real-time iteration algorithm tailored to the nonlinear optimal control and estimation problem while respecting the imposed *** show experimental results illustrating the overall closed-loop control performance, as well as the advantages of the nonlinear MHE-based NMPC scheme. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Nonlinear analysis Computational efficiency Iterative methods Model predictive control Nonlinear programming Optimal systems Predictive control systems Real time control Robots Closed loop control performance fast NMPC Moving horizon estimation Non linear optimal control Non linear optimization Nonlinear model predictive control Pendubots Under actuated systems

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Optimizing Management of the measurement System of the Technological Process

Manufacturing Technology

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Manufacturing Technology 2016年第1期16卷 32-32页

作者： Jenčuráková, Dana Palenčár, Rudolf Institute of automation measurement and applied informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Námestie Slobody 17 Bratislava812 31 Slovakia

The present contribution represents the analysis and optimizing management of the measurement system of the technological process of pressing. It has been chosen the combination of appropriate methods for achieving the objective to minimize the cost of quality assurance of the measurement process by means its management. The quality of the measurement process has been verified by the reference standard (etalon). The optimization of evaluation measurement has been searched by utilizing QFD method (Quality Function Deployment). The subsequent optimization has been implemented by the taking into account the results of the use of the control charts and the deployment of QFD method and Kalman filter. Copyright © 2016. Published by Manufacturing Technology. All rights reserved.

关键词： Control charts

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Construction of convex liftings based on halfspace representation

Construction of convex liftings based on halfspace represent...

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American Control Conference

作者： N. A. Nguyen S. Olaru P. Rodriguez-Ayerbe M. Gulan the Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria the Laboratory of Signals and Systems (L2S UMR CNRS 8506) CentraleSupélec-CNRS-Université Paris Sud 3 rue Joliot Curie Plateau de Moulon 91192 Gif-sur-Yvette France. Sorin. Olaru the Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia

ISBN: (纸本)9781509045839

This paper presents a new algorithm to construct convex lifting for a given polyhedral partition whenever it exists. This algorithm exclusively relies on the halfspace representation of the regions in the respective partition. Also, this algorithm is applicable for the general polyhedral partitions of polyhedra, and thus overcomes the limitation on the polytopic partitions of the existing algorithm based on the vertex representation. Finally, the importance of the proposed algorithm is clarified via some numerical examples, in particular in implementation of piecewise affine controllers. Accordingly, the convex lifting concept is shown to be useful to both avoid storing the state-space partition and to facilitate the online evaluation.

关键词： whenever exists algorithm

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Tracking of non-stationary biological signals with utilizing of adaptive filtering method 20

Tracking of non-stationary biological signals with utilizing...

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20th International Conference on Process Control, PC 2015

作者： Honek, Marek Malinovský, Ľudovít Ondrejkovič, Karol Rohaľ-Ilkiv, Boris Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia

ISBN: (纸本)9781467366274

This paper presents an approach intended for tracking of biological non-stationary signals. The proposed approach utilizes a Kalman filter autoregressive model together with a method for estimation of covariance matrices of the uncorrelated process noise and measurement noise. The method was tested in simulations, where the ability of tracking of a class of time varying autoregressive processes was the subject of our interest. The obtained results are promising in the meaning that the suggested algorithm is suitable to track the time varying autoregressive processes with sufficient accuracy. © 2015 IEEE.

关键词： Adaptive filtering

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Efficiency and performance of embedded model predictive control for active vibration attenuation

Efficiency and performance of embedded model predictive cont...

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European Control Conference

作者： Gergely Takács Pablo Zometa Rolf Findeisen Boris Rohal'-Ilkiv Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Nám. slobody 17 812 31 Bratislava Slovakia Institute for Automation Engineering Otto-von-Guericke University Magdeburg Universitatsplatz 2 (G07) 39106 Magdeburg Germany

ISBN: (纸本)9781509025923

The development of efficient solution approaches and technological advances facilitate the use of predictive control on embedded systems, even for fast systems or on computationally limited hardware platforms. The practical implementation of predictive control is, however, still often very time consuming and demands insight into the formulation and solution strategies for predictive control. Tools for automatic code generation tailored for deployment on embedded systems promise to overcome these problems and thus enable the fast and reliable implementation of predictive control. This paper exploits the efficiency and performance of automatic code generation for linear model predictive control for the embedded active vibration control of a flexible mechanical structure. μAO-MPC is used to automatically generate C code, based on a high level problem description. The resulting code is used for real-time implementation on an embedded platform. The embedded model predictive controller efficiently computes the voltage input for a piezoceramic actuator based on state estimates from a Kalman filter. The performance, computational efficiency, memory requirements, task execution timing and other properties of practical interest are examined via experiments on the embedded controller for active vibration control.

关键词： Efficiency performance embedded model predictive control

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Moving Horizon Estimation for Integrated Navigation Filtering

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IFAC-PapersOnLine 2015年第23期48卷 519-526页

作者： Polóni, Tomá Rohal-Ilkiv, Boris Arne Johansen, Tor Department of Aerospace Engineering University of Michigan Ann Arbor United States Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

This paper presents a nonlinear numerical observer for accurate position, velocity and attitude (PVA) estimation including the accelerometer bias and gyro bias estimation. The Moving Horizon Observer (MHO) processes the accelerometer, gyroscope and magnetometer measurements from the Inertial measurement Unit (IMU) and the position and velocity measurements from the Global Navigation Satellite System (GNSS). The nonlinear measurement equations with the rotation matrix, expressed through the quaternion parametrization, in combination with the state-space rigid body kinematic model of translational and rotational motion is the subject of optimization defined on a receding data window. The gradient-based trust-region method is applied to solve the MHO's nonlinear least-squares criterion. The MHO is tesed off-line in the numerical experiment involving the experimental flight data from a light fixed-wing aircraft. This study demonstrates the quality of the MHO computations with the comparison of the reference filter, the multiplicative Extended Kalman Filter (EKF). © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Nonlinear analysis Accelerometers Extended Kalman filters Fixed wings Global positioning system Gyroscopes Inertial navigation systems Kinematics Least squares approximations Nonlinear equations State estimation Attitude estimation Global Navigation Satellite Systems Inertial measurement Unit (IMU) Moving horizon estimation Moving horizon observers Multiplicative extended kalman filters Non linear least squares Position estimation

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Robust control of temperature fields in steel casting mould as distributed parameter systems 8

Robust control of temperature fields in steel casting mould ...

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8th IFAC Symposium on Robust Control Design, ROCOND 2015

作者： Belavý, C. Hulkó, G. Bartalský, L. Kubiš, M. Slovak University of Technology in Bratislava Faculty of Mechanical Engineering Institute of Automation Measurement and Applied Informatics Nám. Slobody 17 Bratislava812 31 Slovakia

In the paper, modelling and robust control of temperature fields of the casting mould in the benchmark casting plant is presented. Temperature fields are supposed as distributed parameter systems with dynamic described by partial differential equations. Based on finite element method modelling, models for control synthesis purpose in the form of lumped-input/distributed-output system are created. For this representation, uncertainty of the controlled system was considered and robust control synthesis with internal model control structure was designed. Robust control of the temperature fields in the casting mould was carried out using the Distributed Parameter Systems Blockset for MATLAB & Simulink. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robust control

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Collision-free manipulation of a robotic arm using the MS windows kinect 3D optical system 20

Collision-free manipulation of a robotic arm using the MS wi...

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20th International Conference on Process Control, PC 2015

作者： Vachálek, Ján Čapucha, L'ubomír Krasnanský, Pavol Tóth, Filip Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Nám. slobody 17 Bratislava812 31 Slovakia

ISBN: (纸本)9781467366274

This article presents the collision-free manipulation of a robotic arm mounted to a mobile robotic unit, using the MS Windows Kinect 3D optical camera system. The 3D optical system is used to recognize objects, aiding the collision-free manipulation of the said objects with the arm of a mobile robotic system (MRS). The placement of the optical system directly on the robotic arm is essential to ensure the autonomy of the overall system. The MRS is able to recognize pre-defined objects in three dimensional space and approach and manipulate these automatically using its robotic arm. The aim of this article is to present the algorithms used in the mobile robot to guarantee the collision-free manipulation of the MRS with objects. The novelty of our approach lies in the a priori collision avoidance strategy, instead of solving collision states as they occur. In addition to this, the article presents the localization of objects in space. For this, randomly placed balls are localized by the MRS, estimating their real coordinates. Instead of using the standard RGB colorspace, we propose to utilize the HSV colorspace to assess object coordinates, since it provides more consistent results in case the ambient lightning intensity varies. © 2015 IEEE.

关键词： Mobile robots

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Implications of inverse parametric optimization in model predictive control

Implications of inverse parametric optimization in model pre...

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International Conference on Optimisation-based Control and Estimation, 2014

作者： Gulan, Martin Nguyen, Ngoc Anh Olaru, Sorin Rodriguez-Ayerbe, Pedro Rohal’-Ilkiv, Boris Institute of Automation Measurement and Applied Informatics Slovak University of Technology Námestie slobody 17 Bratislava812 31 Slovakia Laboratory of Signals and Systems CentraleSupélec-CNRS-Université Paris-Sud Université Paris-Saclay 3 rue Joliot Curie Gif-sur-Yvette911 90 France

ISBN: (纸本)9783319266855

Recently, inverse parametric linear/quadratic programming problem was shown to be solvable via convex liftings approach [13]. This technique turns out to be relevant in explicit model predictive control (MPC) design in terms of reducing the prediction horizon to at most two steps. In view of practical applications, typically leading to problems that are not directly invertible, we show how to adapt the inverse optimality to specific, possibly convexly non-liftable partitions. Case study results moreover indicate that such an extension leads to controllers of lower complexity without loss of optimality. Numerical data are also presented for illustration. © Springer International Publishing Switzerland 2015.

关键词： Model predictive control

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Robust Control of Temperature Fields in Steel Casting Mould as Distributed Parameter Systems

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IFAC-PapersOnLine 2015年第14期48卷 408-413页

作者： C. Belavý G. Hulkó L. Bartalský M. Kubiš Slovak University of Technology in Bratislava Faculty of Mechanical Engineering Institute of Automation Measurement and Applied Informatics Nám. Slobody 17 812 31 Bratislava Slovak Republic Tel: ++421 25249 5315

关键词： distributed parameter systems lumped-input/distributed-output system uncertainty robust control internal model control temperature field casting mould

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