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Adaptive Model Predictive control with Robust Constraint Satisfaction

IFAC-PapersOnLine 2017年第1期50卷 3313-3318页

作者： Lorenzen M. Allgöwer F. Cannon M. Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Engineering Science University of Oxford United Kingdom

Adaptive control for constrained, linear systems is addressed and a solution based on Model Predictive control (MPC) and set-membership system identification is presented. The paper introduces a computationally tractable solution which uses observations of past state and input trajectories to update the model and improve control performance while maintaining guaranteed constraint satisfaction and recursive feasibility. The developed approach is applied to a stabilizing MPC scheme and practical stability under persistent, additive disturbance is proved. A numerical example and brief comparison with non-adaptive MPC is provided. © 2017

关键词： Adaptive control Constraint Satisfaction Problems Model Predictive control System Identification Uncertain Linear Systems

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Local Refinement of l-complete Approximations for Supervisory control of Hybrid Systems

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IFAC-PapersOnLine 2018年第7期51卷 472-479页

作者： Yang, Jung–Min Moor, Thomas Raisch, Jörg School of Electronics Engineering Kyungpook National University 80 Daehakro Bukgu Daegu41566 Korea Republic of Lehrstuhl für Regelungstechnik at Friedrich-Alexander Universität Erlangen-Nürnberg ErlangenD-91058 Germany Fachgebiet Regelungssysteme Technische Universitaet Berlin Berlin10587 Germany Systems and Control Theory Group Max Planck Institute for Dynamics of Complex Technical Systems MagdeburgD-39106 Germany

l-complete approximation is a discrete abstraction method for a specific class of hybrid control problems involving purely discrete specifications. It allows for global refinement if the subsequent synthesis of supervisory control should fail for the currently selected abstraction level. In this paper, we present a methodology of local refinement for l-complete approximations. If the strongest l-complete approximation of a given hybrid system does not guarantee the existence of a suitable supervisor for a given specification, the proposed scheme refines the abstract model only in a local set of states that violate a controllability condition. Compared to the standard unfocused and global refinement procedure, this may significantly reduce the computational burden both in the abstraction step and the subsequent controller synthesis step. © 2018

关键词： Hybrid systems Abstracting controllability Discrete event simulation Discrete time control systems Specifications Abstract modeling Computational burden controllability condition controller synthesis Discrete abstraction l complete approximations Local refinement Supervisory control

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Semantic Mapping with Omnidirectional Vision

Semantic Mapping with Omnidirectional Vision

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IEEE International Conference on Robotics and Automation

作者： Luis Felipe Posada Alejandro Velasquez-Lopez Frank Hoffmann Torsten Bertram Design Engineering Research Group (GRID) Universidad EAFIT Medellin Colombia Institute of Control Theory and Systems Engineering Technische Universität Dortmund Dortmund Germany

This paper presents a purely visual semantic mapping framework using omnidirectional images. The approach rests upon the robust segmentation of the robot's local free space, replacing conventional range sensors for the generation of occupancy grid maps. The perceptions are mapped into a bird's eye view allowing an inverse sensor model directly by removing the non-linear distortions of the omnidirectional camera mirror. The system relies on a place category classifier to label the navigation relevant categories: room, corridor, doorway, and open room. Each place class maintains a separated grid map that are fused with the range-based occupancy grid for building a dense semantic map.

关键词： Semantics Sensors Cameras Robots Buildings Mirrors Visualization

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An Improved Output Feedback MPC scheme for Constrained Linear Systems

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IFAC-PapersOnLine 2017年第1期50卷 15506-15511页

作者： Subramanian, Sankaranarayanan Lucia, Sergio Engell, Sebastian Process Dynamics and Operations Group DortmundTU United States Otto-von-Guericke-University Magdeburg Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Germany

We propose an output feedback model predictive control (MPC) scheme that is independent of the estimation method employed. The proposed approach is non-conservative by design as the feedback information subject to estimation errors is explicitly considered in the predictions. The proposed scheme is robust to both the plant-model mismatch and the estimation error and avoids the unnecessary conservatism introduced by other existing output feedback MPC approaches in the literature. We achieve this by making use of all the available information at every time-step and formulate a control policy with the assumption that bounds for the estimation error are available at all times. We show that the proposed scheme is recursively feasible and demonstrate its advantages using a double-integrator example. © 2017

关键词： Feedback Errors Estimation Linear systems Model predictive control Predictive control systems Robust control Constrained linear systems Constrained systems Estimation methods Feed back information Multi stage Output feedback Plant model mismatches Robust model predictive control

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A numerical solution to the two-dimensional nonlinear degenerate heat conduction equation with a source

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AIP Conference Proceedings 2020年第1期2315卷

作者： A. L. Kazakov L. F. Spevak O. A. Nefedova 1Institute of Engineering Science Ural Branch of the Russian Academy of Sciences 34 Komsomolskaya St. Ekaterinburg 620049 Russia 2Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 lermontov St. Irkutsk 664033 Russia

The paper develops an algorithm for solving the two-dimensional nonlinear degenerate parabolic heat conduction equation with a source depending on required function, with a specified law of heat wave front motion. The algorithm based on the boundary element method is implemented in the form of a program. To verify it, we use exact solutions the construction of which is reducible to solving a Cauchy problem for ordinary differential equations with a singularity before the highest derivative. The solutions to the Cauchy problem are constructed in the form of power series with recurrently computed coefficients (with a proof of the statement providing its convergence) and by the boundary element method.

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Synchronization and aggregation of nonlinear power systems with consideration of bus network structures

arXiv

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arXiv 2018年

作者： Mlinarić, Petar Ishizaki, Takayuki Chakrabortty, Aranya Grundel, Sara Benner, Peter Imura, Jun-Ichi Computational Methods in Systems and Control Theory Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg39106 Germany Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology 2-12-1 Meguro Tokyo Japan Electrical & Computer Engineering North Carolina State University RaleighNC27695

We study nonlinear power systems consisting of generators, generator buses, and non-generator buses. First, looking at a generator and its bus' variables jointly, we introduce a synchronization concept for a pair of such joint generators and buses. We show that this concept is related to graph symmetry. Next, we extend, in two ways, the synchronization from a pair to a partition of all generators in the networks and show that they are related to either graph symmetry or equitable partitions. Finally, we show how an exact reduced model can be obtained by aggregating the generators and associated buses in the network when the original system is synchronized with respect to a partition, provided that the initial condition respects the partition. Additionally, the aggregation-based reduced model is again a power *** Codes 93A15, 93C10, 94C15 Copyright © 2018, The Authors. All rights reserved.

关键词： Synchronization

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Nonlinear control of Flat Systems Using a Non-Flat Output with Dynamic Extension

Nonlinear Control of Flat Systems Using a Non-Flat Output wi...

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International Conference on System theory, control, and Computing (ICSTCC)

作者： Klaus Robenack Stefan Palis Institute of Control Theory Technische Universitat Dresden Dresden Germany Department of Electrical Power Systems NRU ”Moscow Power Engineering Institute” Moscow Russian Federation Institute for Automation Engineering Otto-von-Guericke University Magdeburg Magdeburg Germany

If a nonlinear system is differentially flat and a flat output is known, the design of a linearizing feedback law is straightforward. For state-space systems, this corresponds to the input-to-state linearization. Otherwise, i.e., if the system is not flat or no flat output can be found, we could carry out an input-output linearization provided the system is minimum phase. In this case, only certain parts of the systems dynamics are assigned by the control law. From a theoretical point of view, this method is based on the Byrnes-Isidori normal form. A less common approach is the usage of the non-flat output in order to carry out a linearization in connection with the generalized controller canonical form [8]. The linearization is achieved by a dynamic extension. The existence of an alternative linearization method may be advantageous from a computational point of view and gives additional degrees of freedom, e.g., allowing for a higher-order of the desired closed-loop dynamics. Both approaches are illustrated on the nonlinear boost converter model.

关键词： Nonlinear dynamical systems Power system dynamics Observers control systems Mathematical model control theory

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Stabilization by Static Output Feedback: A Quantifier Elimination Approach

Stabilization by Static Output Feedback: A Quantifier Elimin...

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International Conference on System theory, control, and Computing (ICSTCC)

作者： Klaus Röbenack Rick Voßwinkel Mirko Franke Matthias Franke Institute of Control Theory TU Dresden Dresden Germany Technische Universitat Dresden Dresden Sachsen DE Department of Electrical Engineering TU Dresden HTW Dresden Dresden Germany

The controller design problem to stabilize a linear time-invariant state-space system by static state feedback has been solved decades ago. Combining the static state feedback with a state observer one obtains a dynamic output feedback control law. Contrary to that, the design problem of static output feedback stabilization is significantly more challenging. In this paper, we discuss the existence and the computation of stabilizing static output feedback control gains. Our approach allows additional specifications regarding the eigenvalues of the closed-loop system.

关键词： Output feedback Closed loop systems Eigenvalues and eigenfunctions Linear matrix inequalities Symmetric matrices Tools Software algorithms

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Consensus analysis of systems with time-varying interactions : An event-triggered approach

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IFAC-PapersOnLine 2017年第1期50卷 9349-9354页

作者： Arun Kumar S. Chowdhury N.R. Srikant S. Raisch J. Department of Systems and Control Engineering Indian Institute of Technology Bombay Mumbai 400076 India Fachgebiet Regelungssysteme Technische Universität Berlin Berlin 10587 Germany Systems and Control Theory Group Max Planck Institute for Dynamics of Complex Technical Systems Germany

We present consensus analysis of systems with single integrator dynamics interacting via time-varying graphs under the event-triggered control paradigm. Event-triggered control sparsifies the control applied, thus reducing the control effort expended. Initially, we consider a multi-agent system with persistently exciting interactions and study the behaviour under the application of event-triggered control with two types of trigger functions- static and dynamic trigger. We show that while in the case of static trigger, the edge-states converge to a ball around the origin, the dynamic trigger function forces the states to reach consensus exponentially. Finally, we extend these results to a more general setting where we consider switching topologies. We show that similar results can be obtained for agents interacting via switching topologies and validate our results by means of simulations. © 2017

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Networked Quadrotor Predictive control Based on Identified Models

Networked Quadrotor Predictive Control Based on Identified M...

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第37届中国控制会议

作者： Yuxin Liang Guo-Ping Liu Zhonghua Pang Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering University of South Wales Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology

In order to achieve good performance of controlling quadrotors with networked delays, this paper firstly proposes a novel experimental architecture aiming to boost the whole process of the experiment and save expenses. Secondly, different from traditional methods of mathematical modelling, the models adopted in this paper are identified rather than derived or calculated using measured systematic parameters. Thirdly, the dynamic models of the system need to be verified before implemented into further experiments. Finally, based on the classic scheme of a proportional-integral-derivative（PID） control algorithm, a predictive PID controller is designed for quadrotor trajectory tracking, and the results show that the designed controller can fulfill the task of tracking with time delays.

关键词： Quadrotor predictive PID controller model identification

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