A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior
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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 ...
High-speed applications impose a hard real-time constraint on the solution of a model predictive control (MPC) problem, which generally prevents the computation of the optimal control input. As a result, in most MPC implementations guarantees on feasibilit ...
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 ...
In this brief paper, a Stochastic Model Predictive Control formulation tractable for large-scale systems is developed. The proposed formulation combines the use of Affine Disturbance Feedback, a formulation successfully applied in robust control, with a de ...
Institute of Electrical and Electronics Engineers2014
We consider the problem of designing decentralized controllers for large-scale linear constrained systems composed by a number of interacting subsystems. As in (Riverso et al., 2013) (i) the design of local controllers requires limited transmission of info ...
In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...
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 underactuated vehicles. By allowing an arbitrarily small asymptotic tracking error, we derive MPC ...
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 ...