Many robotic applications, such as milling, gluing, or high precision measurements, require the precise following of a predefined geometric path. We investigate the real-time feasible implementation of model predictive path-following control for an industr ...
Institute of Electrical and Electronics Engineers2017
In the context of static real-time optimization (RTO) of uncertain plants, the standard modifier-adaptation scheme consists in adding first-order correction terms to the cost and constraint functions of a model based optimization problem. If the algorithm ...
This paper investigates the relations between three different properties, which are of importance in optimal control problems: dissipativity of the underlying dynamics with respect to a specific supply rate, optimal operation at steady state, and the turnp ...
Complex cognition and relatively large brains are distributed across various taxa, and many primarily verbal hypotheses exist to explain such diversity. Yet, mathematical approaches formalizing verbal hypotheses would help deepen the understanding of brain ...
The modifier-adaptation methodology enables real-time optimization (RTO) of plant operation in the presence of considerable plant-model mismatch. It requires the estimation of plant gradients. Obtaining these gradients is expensive as it involves potential ...
