A logarithmic-time solution to the point location problem for closed-form linear MPC
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Research on sub-optimal Model Predictive Control (MPC) has led to a variety of optimization methods based on explicit or online approaches, or combinations thereof. Its foremost aim is to guarantee essential controller properties, i.e. recursive feasibilit ...
Soft constrained model predictive control (MPC) is frequently applied in practice in order to ensure feasibility of the optimization during online operation. Standard techniques offer global feasibility by relaxing state or output constraints, but cannot e ...
Institute of Electrical and Electronics Engineers2014
In Control System Theory, the study of continuous-time, finite dimensional, underdetermined systems of ordinary differential equations is an important topic. Classification of systems in different categories is a natural initial step to the analysis of a g ...
In this work, synthesis and closed-loop operation of robust distributed model predictive control (MPC) for linear systems using distributed optimization is discussed. Previous work has shown that a nominal MPC controller for this setup can be synthesized a ...
This paper presents an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both the theoretical and practical aspects of the Model Predictive Control theory. The case of a two-wheeled inverted pendulum is considered as a ...
State-feedback model predictive control (MPC) of constrained discrete-time periodic affine systems is considered. The periodic systems’ states and inputs are subject to periodically time-dependent, hard, polyhedral constraints. Disturbances are additive, b ...
Weight reduction is a typical design goal for modern aircraft. If gust encoun- ters (as required by Certification Specification 25) are sizing conditions of parts of the airframe, this can be achieved (for example) by an active gust load alleviation system ...
This paper addresses the design of Model Predictive Control (MPC) laws to solve the trajectory-tracking problem and the path-following problem for constrained under-actuated vehicles. By allowing an arbitrarily small asymptotic tracking error, we derive MP ...
This book bridges optimal control theory and economics, discussing ordinary differential equations, optimal control, game theory, and mechanism design in one volume. Technically rigorous and largely self-contained, it provides an introduction to the use of ...
This paper addresses the design of Model Predictive Control (MPC) laws to solve the trajectory-tracking problem and the path-following problem for constrained underactuated vehicles. By allowing an arbitrarily small asymptotic tracking error, we derive MPC ...
