22,287 research outputs found
Fast Gradient Method for Model Predictive Control with Input Rate and Amplitude Constraints
This paper is concerned with the computing efficiency of model predictive
control (MPC) problems for dynamical systems with both rate and amplitude
constraints on the inputs. Instead of augmenting the decision variables of the
underlying finite-horizon optimal control problem to accommodate the input rate
constraints, we propose to solve this problem using the fast gradient method
(FGM), where the projection step is solved using Dykstra's algorithm. We show
that, relative to the Alternating Direction of Method Multipliers (ADMM), this
approach greatly reduces the computation time while halving the memory usage.
Our algorithm is implemented in C and its performance demonstrated using
several examples.Comment: Initial IFAC 2020 conference submissio
Optimal Active Control of a Wave Energy Converter
Abstract-This paper investigates optimal active control schemes applied to a point absorber wave energy converter within a receding horizon fashion. A variational formulation of the power maximization problem is adapted to solve the optimal control problem. The optimal control method is shown to be of a bang-bang type for a power take-off mechanism that incorporates both linear dampers and active control elements. We also consider a direct transcription of the optimal control problem as a general nonlinear program. A variation of the projected gradient optimization scheme is formulated and shown to be feasible and computationally inexpensive compared to a standard NLP solver. Since the system model is bilinear and the cost function is non-convex quadratic, the resulting optimization problem is not a convex quadratic program. Results will be compared with an optimal command latching method to demonstrate the improvement in absorbed power. Time domain simulations are generated under irregular sea conditions
Neural-Network Vector Controller for Permanent-Magnet Synchronous Motor Drives: Simulated and Hardware-Validated Results
This paper focuses on current control in a permanentmagnet synchronous motor (PMSM). The paper has two main objectives: The first objective is to develop a neural-network (NN) vector controller to overcome the decoupling inaccuracy problem associated with conventional PI-based vector-control methods. The NN is developed using the full dynamic equation of a PMSM, and trained to implement optimal control based on approximate dynamic programming. The second objective is to evaluate the robust and adaptive performance of the NN controller against that of the conventional standard vector controller under motor parameter variation and dynamic control conditions by (a) simulating the behavior of a PMSM typically used in realistic electric vehicle applications and (b) building an experimental system for hardware validation as well as combined hardware and simulation evaluation. The results demonstrate that the NN controller outperforms conventional vector controllers in both simulation and hardware implementation
Synaptic mechanisms of interference in working memory
Information from preceding trials of cognitive tasks can bias performance in
the current trial, a phenomenon referred to as interference. Subjects
performing visual working memory tasks exhibit interference in their
trial-to-trial response correlations: the recalled target location in the
current trial is biased in the direction of the target presented on the
previous trial. We present modeling work that (a) develops a probabilistic
inference model of this history-dependent bias, and (b) links our probabilistic
model to computations of a recurrent network wherein short-term facilitation
accounts for the dynamics of the observed bias. Network connectivity is
reshaped dynamically during each trial, providing a mechanism for generating
predictions from prior trial observations. Applying timescale separation
methods, we can obtain a low-dimensional description of the trial-to-trial bias
based on the history of target locations. The model has response statistics
whose mean is centered at the true target location across many trials, typical
of such visual working memory tasks. Furthermore, we demonstrate task protocols
for which the plastic model performs better than a model with static
connectivity: repetitively presented targets are better retained in working
memory than targets drawn from uncorrelated sequences.Comment: 28 pages, 7 figure
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