75,502 research outputs found
Distributed bounded-error state estimation for partitioned systems based on practical robust positive invariance
We propose a partition-based state estimator for linear discrete-time systems
composed by coupled subsystems affected by bounded disturbances. The
architecture is distributed in the sense that each subsystem is equipped with a
local state estimator that exploits suitable pieces of information from parent
subsystems. Moreover, differently from methods based on moving horizon
estimation, our approach does not require the on-line solution to optimization
problems. Our state-estimation scheme, that is based on the notion of practical
robust positive invariance developed in Rakovic 2011, also guarantees
satisfaction of constraints on local estimation errors and it can be updated
with a limited computational effort when subsystems are added or removed
Plug-and-Play Model Predictive Control based on robust control invariant sets
In this paper we consider a linear system represented by a coupling graph
between subsystems and propose a distributed control scheme capable to
guarantee asymptotic stability and satisfaction of constraints on system inputs
and states. Most importantly, as in Riverso et al., 2012 our design procedure
enables plug-and-play (PnP) operations, meaning that (i) the addition or
removal of subsystems triggers the design of local controllers associated to
successors to the subsystem only and (ii) the synthesis of a local controller
for a subsystem requires information only from predecessors of the subsystem
and it can be performed using only local computational resources. Our method
hinges on local tube MPC controllers based on robust control invariant sets and
it advances the PnP design procedure proposed in Riverso et al., 2012 in
several directions. Quite notably, using recent results in the computation of
robust control invariant sets, we show how critical steps in the design of a
local controller can be solved through linear programming. Finally, an
application of the proposed control design procedure to frequency control in
power networks is presented
Sampling-Based Methods for Factored Task and Motion Planning
This paper presents a general-purpose formulation of a large class of
discrete-time planning problems, with hybrid state and control-spaces, as
factored transition systems. Factoring allows state transitions to be described
as the intersection of several constraints each affecting a subset of the state
and control variables. Robotic manipulation problems with many movable objects
involve constraints that only affect several variables at a time and therefore
exhibit large amounts of factoring. We develop a theoretical framework for
solving factored transition systems with sampling-based algorithms. The
framework characterizes conditions on the submanifold in which solutions lie,
leading to a characterization of robust feasibility that incorporates
dimensionality-reducing constraints. It then connects those conditions to
corresponding conditional samplers that can be composed to produce values on
this submanifold. We present two domain-independent, probabilistically complete
planning algorithms that take, as input, a set of conditional samplers. We
demonstrate the empirical efficiency of these algorithms on a set of
challenging task and motion planning problems involving picking, placing, and
pushing
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
Plug-and-Play Decentralized Model Predictive Control
In this paper we consider a linear system structured into physically coupled
subsystems and propose a decentralized control scheme capable to guarantee
asymptotic stability and satisfaction of constraints on system inputs and
states. The design procedure is totally decentralized, since the synthesis of a
local controller uses only information on a subsystem and its neighbors, i.e.
subsystems coupled to it. We first derive tests for checking if a subsystem can
be plugged into (or unplugged from) an existing plant without spoiling overall
stability and constraint satisfaction. When this is possible, we show how to
automatize the design of local controllers so that it can be carried out in
parallel by smart actuators equipped with computational resources and capable
to exchange information with neighboring subsystems. In particular, local
controllers exploit tube-based Model Predictive Control (MPC) in order to
guarantee robustness with respect to physical coupling among subsystems.
Finally, an application of the proposed control design procedure to frequency
control in power networks is presented.Comment: arXiv admin note: text overlap with arXiv:1210.692
Plug-and-play distributed state estimation for linear systems
This paper proposes a state estimator for large-scale linear systems
described by the interaction of state-coupled subsystems affected by bounded
disturbances. We equip each subsystem with a Local State Estimator (LSE) for
the reconstruction of the subsystem states using pieces of information from
parent subsystems only. Moreover we provide conditions guaranteeing that the
estimation errors are confined into prescribed polyhedral sets and converge to
zero in absence of disturbances. Quite remarkably, the design of an LSE is
recast into an optimization problem that requires data from the corresponding
subsystem and its parents only. This allows one to synthesize LSEs in a
Plug-and-Play (PnP) fashion, i.e. when a subsystem gets added, the update of
the whole estimator requires at most the design of an LSE for the subsystem and
its parents. Theoretical results are backed up by numerical experiments on a
mechanical system
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