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A Mixed-integer Quadratic Programming Solver based on GPU 34

A Mixed-integer Quadratic Programming Solver based on GPU

引用

第三十四届中国控制会议

作者： WANG Xi LI Dewei XI Yugeng Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education

ISBN: (纸本)9781467374439

Solving the mixed-integer quadratic programming(MIQP) problem is often required in many practical applications. But the existing solvers always encounter the contradiction between high precision and low time consumption. To solve this problem, this paper designs a new MIQP solver by developing a parallel branch-and-bound algorithm utilizing multi-point radiation based on the multithreading parallel structure of GPU. This solver can obtain the global optimal solution by inheriting the advantages of the classical branch-and-bound algorithm. To increase the efficiency of the MIQP solver, for the quadratic programming(QP) to be solved each time during iteration, we fully use the massive parallelism of GPU and adopt the discrete-time simplified dual neural network. The idea of multi-point radiation is used to simultaneously generate multiple search branches to improve the search efficiency. These strategies enhance the throughput and the degree of parallelization. The high computational efficiency of the proposed MIQP solver is verified by test results with solving time statistics for multiple examples.

关键词： GPU,Mix-integer Quadratic Programming,Branch and Bound Algorithm,Parallel Structure

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Multiple-model Off-line Predictive control for Fast Time-varying systems

Multiple-model Off-line Predictive Control for Fast Time-var...

引用

第25届中国控制与决策会议

作者： Xiangyuan Tao Ning Li Shaoyuan Li the department of Automation Shanghai Jiao Tong University and key laboratory of system control and information processing ministry of education

ISBN: (纸本)9781467355339

To track the wide range of operating points of fast time-varying processes, a novel multiple model off-line predictive control algorithm is presented. The proposed method is a combination of multiple model strategy and predictive control. Firstly, we locally describe the original nonlinear system around an operating point employing linear time varying (LTV) model. Then the offline model predictive control (OMPC) algorithm is adopted to design local controller for LTV model, whose low computation burden makes it be able to control the fast time-varying process. To track the wide range of operating point, the multiple-model strategy is exploited. By estimating the stable region of local OMPC and selecting appropriate middle operating points, the stable switch between controllers can be guaranteed. Finally, a numerical simulation is given to illustrate the implementation and effectiveness of the proposed method.

关键词： Multiple model offline robust model predictive control large operating regions switching stability.

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The Trajectory Planning of 9 Degree-of-freedom Manipulator Based on Model Predictive control Method 35

The Trajectory Planning of 9 Degree-of-freedom Manipulator B...

引用

第35届中国控制会议

作者： WANG Naiqian LI Dewei XI Yugeng Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information ProcessingMinistry of Education

ISBN: (纸本)9781509009107

This paper focuses on a 9-DOF manipulator system composed of a gantry and small-sized *** the multi-input multi-output(MIMO) high dimensional model with joint constraints,an algorithm based on Model Predictive control(MPC) is proposed for the trajectory planning with *** of the joints are classified into different movement priority according to their motion range and positioning *** redundancy problem can be solved by setting different weight for control variable of each joint in optimization *** addition,for various setting points,different weighting selections are considered by analyzing joints motion ***,rolling optimization style of MPC scheme makes it possible to online continuously make trajectory planning with updated *** simulation results illustrate effectiveness of the algorithm proposed in this paper.

关键词： Manipulator Redundancy Trajectory planning Model Predictive control Inverse kinematics

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The Vibration control of Flexible Manipulators Based on Model Predictive control Method 33

The Vibration Control of Flexible Manipulators Based on Mode...

引用

第三十三届中国控制会议

作者： ZHANG Xiaoying LI Dewei XI Yugeng Key Laboratory of System Control and Information Processing Ministry of Education Department of Automation Shanghai Jiao Tong University

ISBN: (纸本)9781479947249

This paper proposes a hierarchical control structure based on model predictive control to address the vibration suppression of flexible manipulators under the dynamic constraints. Due to the coupling relationship between the trajectory and the flexible vibration, it provides a solution to vibration reduction if the trajectory can be rationally planned. In the decision layer,an optimal reference trajectory is planned with consideration of the dynamic constraints to ensure the manipulator to locate at the desired position as soon as possible and the reduced flexible vibration is suppressed during the movement. In the execution layer, the tracking controller is designed to minimize a quadratic performance index of the prediction error. Simulations for a single-link flexible manipulator are performed to validate the proposed controllers.

关键词： Model Predictive control,Flexible Manipulator,Vibration control,Dynamic Constraints,Hierarchical control

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Quasi Markov Simplex Optimization of Nonlinear Functional Parameters in Multivariable Collaborative Cascade control 41

Quasi Markov Simplex Optimization of Nonlinear Functional Pa...

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第41届中国控制会议

作者： Tangwen Yin Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Exposition to risk for the benefit of automatic control creates *** and robustness are two options to reduce the inherent fragility risk of safety-critical ***,time and resource parameters that characterize the agile responsiveness and robust adaptivity are difficult to be optimized due to multilevel coupling structures with different time *** propose the quasi Markov simplex optimization(QMSO) of nonlinear functional parameters in multivariable collaborative cascade control(MCCC) to improve agility and robustness for systems with hierarchical multivariable coordination and multiple *** verify if the singularly perturbed feedback and control with quasi Markovian jumps through optimal nonlinear functional parameters can achieve the multivariable collaborative cascade control equivalent to that of singular perturbation modeling and design without decomposing slow and fast *** in aviation show that the nonlinear functional parameters in MCCC can be estimated through QMSO to improve agility and robustness for the consistence of flight *** find that the simplex optimization equivalently establishes the nonlinear singularly perturbed feedback and control with quasi Markovian jumps,without having to realize singular perturbation modeling and design,and there is no need to decompose slow and fast *** conclusion,the quasi Markov simplex estimation of nonlinear functional parameters optimizes the hierarchical multivariable coordination under multiple timescales,so that the synthesized collaborative cascade control is capable to improve agility and robustness.

关键词： Agility Hierarchical Multivariable Coordination Multiple Timescales Nonlinear Aircraft control Robustness

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Optimization of carpooling based on complete subgraphs 35

Optimization of carpooling based on complete subgraphs

引用

第35届中国控制会议

作者： QI Xinyu WANG Lin WANG Xiaofan Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education

ISBN: (纸本)9781509009107

The carpooling recommendation system can alleviate the problems of traffic congestion and environmental pollution effectively in big *** this paper,a complete subgraphs based commuting carpooling matching system(CS-CCMS) for the commuters is designed,which transforms the carpooling optimization problem into a complete subgraph *** classifies commuters through daily travel information of the users,and recommends potential carpooling partners for each commuter according to a satisfaction *** satisfaction function is proposed based on information of users and trips as well as a negotiation *** problem of maximizing the satisfaction among all users is ***,two approximation algorithms,GS A and TSA,are presented to solve this ***,a travel demand network of residents in Shanghai is set up using the passenger data of Shanghai Metro,to verify the effectiveness of the approximation algorithms.

关键词： Graph model satisfaction degree function complete subgraphs GSA TSA one-card data

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A Fast Algorithm for MPC Based on Aggregation Strategy

A Fast Algorithm for MPC Based on Aggregation Strategy

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第25届中国控制与决策会议

作者： Cunsheng Lu Dewei Li Yugeng Xi Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education

ISBN: (纸本)9781467355339

Improving the computational efficiency for model predictive control (MPC) becomes the focus of recent researches. This paper proposes a fast algorithm to solve the quadratic programming (QP) problem of MPC for systems with only input constraints. This algorithm improves the efficiency of the fast gradient approach. Inspired by the multiplexed way, this algorithm searches a better solution of QP problem along the direction of one input channel in every iteration. Meanwhile, in order to further reduce the online computational complexity, the proposed algorithm applies the aggregation strategy to each input channel. Due to the aggregation strategy and the determined optimization direction, the proposed algorithm reduces the number of vector multiplications of each iteration, i.e. with less online computational complexity than previous works. Applying the proposed algorithm, simulations for a system with 3 inputs show that computational efficiency of this algorithm can reach a level of tens of microseconds in Matlab environment.

关键词： Model Predictive control, Quadratic Programming, Aggregation strategy, Computational Complexity

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Bi-graph Random Walk Sampling of Directed Online Social Networks 34

Bi-graph Random Walk Sampling of Directed Online Social Netw...

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第三十四届中国控制会议

作者： SHEN Luyi WANG Xiaofan Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education

ISBN: (纸本)9781467374439

During the past several decades, various Online Social Networks(OSNs) have experienced a huge development and have given rise to many related studies. However, the huge size of OSNs brings many difficulties to researchers and kinds of sampling methods have been used to get a relatively small but representative sample. Although some traditional sampling methods(e.g. Random Walk and its several improved forms) can help us to get a high-quality sample, there is still a lot of space for improvement in convergence rate, efficiency and their performance in directed OSNs. In this paper, we focus on sampling directed OSNs and propose Bi-graph Random Walk sampling(BRW) as a new sampling method. During each iteration of sampling, we treat directed structure as a combined graph of in-graph and out-graph, and then use a two-stage procedure to sample network. By evaluating this method in both synthetic graph and real OSNs, we find that BRW can achieve higher efficiency and faster convergence rate than traditional sampling methods.

关键词： Complex network,Network sampling,OSNs,Random walk

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Distributed State Estimation of FCCU Riser Temperature 36

Distributed State Estimation of FCCU Riser Temperature

引用

第36届中国控制会议

作者： Li Mengying Zheng Yi Li Shaoyuan Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education

ISBN: (纸本)9781538629185

The temperature of riser reactor plays an important role in the operation and control of fluid catalytic cracking unit（FCCU）. However, the FCCU riser only has limit temperature sensors. In this paper, a distributed state observer strategy is proposed to estimate temperature distribution of the whole riser. Based on moving horizon estimation（MHE）, this paper presents a simplified MHE scheme for differential-algebraic systems that is applied to each observer that are combined together to form a large distributed state observer. The simulation results show that the distributed state observer works well and is able to estimation the temperature distribution.

关键词： state observer moving horizon estimation differential-algebraic equations riser reactor of fluid catalytic cracking unit

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Unfalsified Adaptive PID control with a Fading Memory Cost Function 33

Unfalsified Adaptive PID Control with a Fading Memory Cost F...

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第三十三届中国控制会议

作者： CHEN Kexin LI Shaoyuan Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education

ISBN: (纸本)9789881563842

In this paper, we present a new cost function with fading memory and time-window in order to decrease the influence of old data in unfalsified adaptive control applications where the plant varies slowly or changes suddenly with time. Based on the unfalsified adaptive PID control, when the controller inserted in the system cannot guarantee the stability of the system, the cost function with a fading memory can detect the instability more quickly and then switch into a new stabilizing controller faster.

关键词： Unfalsified adaptive control,Fading memory,PID control,Cost function

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