289 research outputs found
Optimal Output Regulation for Square, Over-Actuated and Under-Actuated Linear Systems
This paper considers two different problems in trajectory tracking control
for linear systems. First, if the control is not unique which is most input
energy efficient. Second, if exact tracking is infeasible which control
performs most accurately. These are typical challenges for over-actuated
systems and for under-actuated systems, respectively. We formulate both goals
as optimal output regulation problems. Then we contribute two new sets of
regulator equations to output regulation theory that provide the desired
solutions. A thorough study indicates solvability and uniqueness under weak
assumptions. E.g., we can always determine the solution of the classical
regulator equations that is most input energy efficient. This is of great value
if there are infinitely many solutions. We derive our results by a linear
quadratic tracking approach and establish a useful link to output regulation
theory.Comment: 8 pages, 0 figures, final version to appear in IEEE Transactions on
Automatic Contro
Generating Compact Geometric Track-Maps for Train Positioning Applications
In this paper, we present a method to generate compact geometric track-maps
for train-borne localization applications. Therefore, we first give a brief
overview on the purpose of track maps in train-positioning applications. It
becomes apparent that there are hardly any adequate methods to generate
suitable geometric track-maps. This is why we present a novel map generation
procedure. It uses an optimization formulation to find the continuous sequence
of track geometries that fits the available measurement data best. The
optimization is initialized with the results from a localization filter
developed in our previous work. The localization filter also provides the
required information for shape identification and measurement association. The
presented approach will be evaluated on simulated data as well as on real
measurements
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Application of Pareto Optimization in an Economic Model Predictive Controlled Microgrid
This paper presents an economic model predictive control approach for a linear microgrid model. The microgrid in grid-connected mode represents a medium-sized company
building including storage systems, renewable energies and couplings between the electrical and heat energy system. Economic model predictive control together with Pareto optimization is applied to find suitable compromises between two competing
objectives, i. e. monetary costs and thermal comfort. Using real-world data from 2018 and 2019, the model is simulated with auto-detection of the Pareto solution which is closest to the Utopia point. The results show that the Pareto optimization can either be used in real-time control of the microgrid, or to obtain suitable weights from long term simulations. Both approaches result in significant cost reductions
Incorporating Human Preferences in Decision Making for Dynamic Multi-Objective Optimization in Model Predictive Control
We present a new two-step approach for automatized a posteriori decision making in
multi-objective optimization problems, i.e., selecting a solution from the Pareto front. In the first step,
a knee region is determined based on the normalized Euclidean distance from a hyperplane defined
by the furthest Pareto solution and the negative unit vector. The size of the knee region depends on
the Pareto front’s shape and a design parameter. In the second step, preferences for all objectives
formulated by the decision maker, e.g., 50–20–30 for a 3D problem, are translated into a hyperplane
which is then used to choose a final solution from the knee region. This way, the decision maker’s
preference can be incorporated, while its influence depends on the Pareto front’s shape and a design
parameter, at the same time favorizing knee points if they exist. The proposed approach is applied in
simulation for the multi-objective model predictive control (MPC) of the two-dimensional rocket car
example and the energy management system of a building
Stabilitätsnachweis für weiche strukturvariable Regelungen mit Zustandsbeobachter
Weiche strukturvariable Regler sind nichtlineare Zustandsregler für lineare Regelstrecken mit Stellgrößenbeschränkung. Ihr lineares Regelgesetz wird über einen zustandsabhängigen Parameter kontinuierlich verändert. Dabei erfolgt die Regleränderung so, dass die vorhandene Stellgrößenbeschränkung möglichst gut ausgenutzt wird, wodurch sich ein nahezu zeitoptimales Verhalten einstellt. Unter praktischen Gesichtspunkten erfordert eine Zustandsregelung – so auch diese – den Einsatz eines Beobachters, da oft nicht alle Zustände messbar sind. In diesem Artikel werden Beobachter für weiche strukturvariable Regler und der Nachweis der Stabilität des Regelkreises mit Beobachter behandelt
Entkopplungsregelungen für lineare überaktuierte Systeme
Gegenstand des Beitrags ist der Entwurf von statischen Zustandsreglern zur Führungsentkopplung
in linearen überaktuierten Systemen. Zum einen wird eine Erweiterung der Entwurfsmethodik nach Falb und Wolovich erläutert, welche eine einfache Nutzung der zusätzlichen Freiheitsgrade gegenüber klassischen Entkopplungsreglern ermöglicht.
Zum anderen erlaubt ein parametrischer Entwurf die Interpretation der entstehenden Freiheitsgrade. Als Anwendungsbeispiele
werden die Reduzierung der Stellenergie sowie die Steigerung der Robustheit von Entkopplungsregelungen vorgestellt
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