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A Model Predictive Control Approach to Trajectory Tracking Problems via Time-Varying Level Sets of Lyapunov Functions

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Soft Constrained Model Predictive Control With Robust Stability Guarantees

Colin Neil Jones, Melanie Nicole Zeilinger

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

On Polygons Excluding Point Sets

Radoslav Fulek, Balázs Keszegh, Filip Moric

By a polygonization of a finite point set S in the plane we understand a simple polygon having S as the set of its vertices. Let B and R be sets of blue and red points, respectively, in the plane such that is in general position, and the convex hull of B c ...

Springer Japan2013

On Deciding Functional Lists with Sublist Sets

Viktor Kuncak

Motivated by the problem of deciding verification conditions for the verification of functional programs, we present new decision procedures for automated reasoning about functional lists. We first show how to decide in NP the satisfiability problem for lo ...

2010

Drawing Hamiltonian cycles with no large angles

János Pach

Let n >= 4 be even. It is shown that every set S of n points in the plane can be connected by a (possibly self-intersecting) spanning tour (Hamiltonian cycle) consisting of n straight-line edges such that the angle between any two consecutive edges is at m ...

Springer-Verlag2010

Ordered Sets in the Calculus of Data Structures

Viktor Kuncak, Philippe Paul Henri Suter, Ruzica Piskac

Our goal is to identify families of relations that are useful for reasoning about software. We describe such families using decidable quantifier-free classes of logical constraints with a rich set of operations. A key challenge is to define such classes of ...

Springer2010

Tangencies between families of disjoint regions in the plane

János Pach

Let C be a family of n convex bodies in the plane, which can be decomposed into k subfamilies of pairwise disjoint sets. It is shown that the number of tangencies between the members of C is at most O(kn), and that this bound cannot be improved. If we only ...

2010

Robust stability properties of soft constrained MPC

Colin Neil Jones, Melanie Nicole Zeilinger

In Model Predictive Control, the enforcement of hard state constraints can be overly conservative or even infeasible, especially in the presence of disturbances. This work presents a soft constrained MPC approach that provides closed- loop stability even f ...

IEEE2010

Model-Predictive Control of an Experimental Solid Oxide Fuel Cell Stack

Dominique Bonvin, Stefan Diethelm, Grégory François, Zacharie Wuillemin, Arata Nakajo, Gene Bunin

Solid Oxide Fuel Cells (SOFC) are energy conversion devices that produce electrical energy via the reaction of a fuel with an oxidant. Although SOFCs have become credible alternatives to non-renewable energy sources, efforts are still needed to extend thei ...

2010

Collections, Cardinalities, and Relations

Viktor Kuncak, Ruzica Piskac

Logics that involve collections (sets, multisets), and cardinality constraints are useful for reasoning about unbounded data structures and concurrent processes. To make such logics more useful in verification this paper extends them with the ability to co ...

2010

Learning and Control of UAV maneuvers Based on Demonstrations

Aude Billard, Seyed Mohammad Khansari Zadeh

Many maneuvers of Unmanned Aerial Vehicles (UAV) can be considered within a framework of trajectory following. Though this issue can differ from one application to another, they all share the same problem of finding an optimal path (or signal) to perform t ...

2009