14,800 research outputs found
Model predictive control techniques for hybrid systems
This paper describes the main issues encountered when applying model predictive control to hybrid processes. Hybrid model predictive control (HMPC) is a research field non-fully developed with many open challenges. The paper describes some of the techniques proposed by the research community to overcome the main problems encountered. Issues related to the stability and the solution of the optimization problem are also discussed. The paper ends by describing the results of a benchmark exercise in which several HMPC schemes were applied to a solar air conditioning plant.Ministerio de Eduación y Ciencia DPI2007-66718-C04-01Ministerio de Eduación y Ciencia DPI2008-0581
Robust MPC of constrained nonlinear systems based on interval arithmetic
A robust MPC for constrained discrete-time nonlinear systems with additive
uncertainties is presented. The proposed controller is based on the concept of reachable sets, that
is, the sets that contain the predicted evolution of the uncertain system for all possible uncertainties.
If processes are nonlinear these sets are very difficult to compute. A conservative approximation
based on interval arithmetic is proposed for the online computation of these sets. This technique
provides good results with a computational effort only slightly greater than the one corresponding to
the nominal prediction. These sets are incorporated into the MPC formulation to achieve robust
stability. By choosing a robust positively invariant set as a terminal constraint, a robustly stabilising
controller is obtained. Stability is guaranteed in the case of suboptimality of the computed solution.
The proposed controller is applied to a continuous stirred tank reactor with an exothermic reaction.Ministerio de Ciencia y TecnologÃa DPI-2001-2380-03- 01Ministerio de Ciencia y TecnologÃa DPI-2002-4375-C02-0
Control with Probabilistic Signal Temporal Logic
Autonomous agents often operate in uncertain environments where their
decisions are made based on beliefs over states of targets. We are interested
in controller synthesis for complex tasks defined over belief spaces. Designing
such controllers is challenging due to computational complexity and the lack of
expressivity of existing specification languages. In this paper, we propose a
probabilistic extension to signal temporal logic (STL) that expresses tasks
over continuous belief spaces. We present an efficient synthesis algorithm to
find a control input that maximises the probability of satisfying a given task.
We validate our algorithm through simulations of an unmanned aerial vehicle
deployed for surveillance and search missions.Comment: 7 pages, submitted to the 2016 American Control Conference (ACC 2016)
on September, 30, 2015 (under review
Control with probabilistic signal temporal logic
Autonomous agents often operate in uncertain environments where their decisions are made based on beliefs over states of targets. We are interested in controller synthesis for complex tasks defined over belief spaces. Designing such controllers is challenging due to computational complexity and the lack of expressivity of existing specification languages. In this paper, we propose a probabilistic extension to signal temporal logic (STL) that expresses tasks over continuous belief spaces. We present an efficient synthesis algorithm to find a control input that maximises the probability of satisfying a given task. We validate our algorithm through simulations of an unmanned aerial vehicle deployed for surveillance and search missions
Robust stability of moving horizon estimation for nonlinear systems with bounded disturbances using adaptive arrival cost
In this paper, the robust stability and convergence to the true state of moving horizon estimator based on an adaptive arrival cost are established for nonlinear detectable systems. Robust global asymptotic stability is shown for the case of non-vanishing bounded disturbances whereas the convergence to the true state is proved for the case of vanishing disturbances. Several simulations were made in order to show the estimator behaviour under different operational conditions and to compare it with the state of the art estimation methods.Fil: Deniz, Nestor Nahuel. Consejo Nacional de Investigaciones CientÃficas y Técnicas. Centro CientÃfico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de IngenierÃa y Ciencias HÃdricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; ArgentinaFil: Murillo, Marina Hebe. Consejo Nacional de Investigaciones CientÃficas y Técnicas. Centro CientÃfico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de IngenierÃa y Ciencias HÃdricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; ArgentinaFil: Guido Sanchez. Consejo Nacional de Investigaciones CientÃficas y Técnicas. Centro CientÃfico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de IngenierÃa y Ciencias HÃdricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; ArgentinaFil: Genzelis, Lucas Manuel. Consejo Nacional de Investigaciones CientÃficas y Técnicas. Centro CientÃfico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de IngenierÃa y Ciencias HÃdricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; ArgentinaFil: Giovanini, Leonardo Luis. Consejo Nacional de Investigaciones CientÃficas y Técnicas. Centro CientÃfico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de IngenierÃa y Ciencias HÃdricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; Argentin
Contingency Model Predictive Control for Automated Vehicles
We present Contingency Model Predictive Control (CMPC), a novel and
implementable control framework which tracks a desired path while
simultaneously maintaining a contingency plan -- an alternate trajectory to
avert an identified potential emergency. In this way, CMPC anticipates events
that might take place, instead of reacting when emergencies occur. We
accomplish this by adding an additional prediction horizon in parallel to the
classical receding MPC horizon. The contingency horizon is constrained to
maintain a feasible avoidance solution; as such, CMPC is selectively robust to
this emergency while tracking the desired path as closely as possible. After
defining the framework mathematically, we demonstrate its effectiveness
experimentally by comparing its performance to a state-of-the-art deterministic
MPC. The controllers drive an automated research platform through a left-hand
turn which may be covered by ice. Contingency MPC prepares for the potential
loss of friction by purposefully and intuitively deviating from the prescribed
path to approach the turn more conservatively; this deviation significantly
mitigates the consequence of encountering ice.Comment: American Control Conference, July 2019; 6 page
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