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Author: Fabian Russell Pfitz
Publisher: Logos Verlag Berlin GmbH
ISBN: 3832557059
Category :
Languages : en
Pages : 160
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Book Description
In this thesis, we present novel model predictive control (MPC) formulations based on a convex open-loop optimal control problem to tackle the problem setup of trajectory tracking and path following as well as the control of systems with unknown system dynamic. In particular, we consider the framework of relaxed barrier function based MPC (rbMPC). We extend the existing stability theory to the trajectory tracking and the path following problem. We establish important system theoretic properties like closed-loop stability and exact constraint satisfaction under suitable assumptions. Moreover, we evaluate the developed MPC algorithms in the area of automated driving in simulations as well as in a real-world driving scenario. Further, we consider the control of completely unknown systems based on online optimization. We divide the overall problem into the design of an estimation algorithm and a control algorithm. The control algorithm is a model-independent receding horizon control algorithm in which important system theoretic properties like convergence to the origin are guaranteed without the knowledge of the true system parameters. The estimation and control algorithm are combined together and convergence to the origin of the closed-loop system for fully unknown linear time-invariant discrete-time systems is shown.
Author: Fabian Russell Pfitz
Publisher: Logos Verlag Berlin GmbH
ISBN: 3832557059
Category :
Languages : en
Pages : 160
Get Book Here
Book Description
In this thesis, we present novel model predictive control (MPC) formulations based on a convex open-loop optimal control problem to tackle the problem setup of trajectory tracking and path following as well as the control of systems with unknown system dynamic. In particular, we consider the framework of relaxed barrier function based MPC (rbMPC). We extend the existing stability theory to the trajectory tracking and the path following problem. We establish important system theoretic properties like closed-loop stability and exact constraint satisfaction under suitable assumptions. Moreover, we evaluate the developed MPC algorithms in the area of automated driving in simulations as well as in a real-world driving scenario. Further, we consider the control of completely unknown systems based on online optimization. We divide the overall problem into the design of an estimation algorithm and a control algorithm. The control algorithm is a model-independent receding horizon control algorithm in which important system theoretic properties like convergence to the origin are guaranteed without the knowledge of the true system parameters. The estimation and control algorithm are combined together and convergence to the origin of the closed-loop system for fully unknown linear time-invariant discrete-time systems is shown.
Author: Saša V. Raković
Publisher: Springer
ISBN: 3319774891
Category : Science
Languages : en
Pages : 693
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Book Description
Recent developments in model-predictive control promise remarkable opportunities for designing multi-input, multi-output control systems and improving the control of single-input, single-output systems. This volume provides a definitive survey of the latest model-predictive control methods available to engineers and scientists today. The initial set of chapters present various methods for managing uncertainty in systems, including stochastic model-predictive control. With the advent of affordable and fast computation, control engineers now need to think about using “computationally intensive controls,” so the second part of this book addresses the solution of optimization problems in “real” time for model-predictive control. The theory and applications of control theory often influence each other, so the last section of Handbook of Model Predictive Control rounds out the book with representative applications to automobiles, healthcare, robotics, and finance. The chapters in this volume will be useful to working engineers, scientists, and mathematicians, as well as students and faculty interested in the progression of control theory. Future developments in MPC will no doubt build from concepts demonstrated in this book and anyone with an interest in MPC will find fruitful information and suggestions for additional reading.
Author: Alonzo Kelly
Publisher: Springer Science & Business Media
ISBN: 3642134076
Category : Technology & Engineering
Languages : en
Pages : 497
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Book Description
Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human en- ronments and vigorously engaged in its new challenges. Interacting with, assi- ing, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has p- duced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neuros- ences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the int- section of disciplines that the most striking advances happen. The Springer Tracts in Advanced Robotics (STAR) is devoted to bringing to the research community the latest advances in the robotics field on the basis of their significance and quality. Through a wide and timely dissemination of critical - search developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and c- tribute to further advancements in this rapidly growing field.
Author: Anis Koubaa
Publisher: Springer
ISBN: 3319549278
Category : Technology & Engineering
Languages : en
Pages : 652
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Book Description
This second volume is a continuation of the successful first volume of this Springer book, and as well as addressing broader topics it puts a particular focus on unmanned aerial vehicles (UAVs) with Robot Operating System (ROS). Consisting of three types of chapters: tutorials, cases studies, and research papers, it provides comprehensive additional material on ROS and the aspects of developing robotics systems, algorithms, frameworks, and applications with ROS. ROS is being increasingly integrated in almost all kinds of robots and is becoming the de-facto standard for developing applications and systems for robotics. Although the research community is actively developing applications with ROS and extending its features, amount of literature references is not representative of the huge amount of work being done. The book includes 19 chapters organized into six parts: Part 1 presents the control of UAVs with ROS, while in Part 2, three chapters deal with control of mobile robots. Part 3 provides recent work toward integrating ROS with Internet, cloud and distributed systems. Part 4 offers five case studies of service robots and field experiments. Part 5 presents signal-processing tools for perception and sensing, and lastly, Part 6 introduces advanced simulation frameworks. The diversity of topics in the book makes it a unique and valuable reference resource for ROS users, researchers, learners and developers.
Author: Rushikesh Kamalapurkar
Publisher: Springer
ISBN: 331978384X
Category : Technology & Engineering
Languages : en
Pages : 305
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Book Description
Reinforcement Learning for Optimal Feedback Control develops model-based and data-driven reinforcement learning methods for solving optimal control problems in nonlinear deterministic dynamical systems. In order to achieve learning under uncertainty, data-driven methods for identifying system models in real-time are also developed. The book illustrates the advantages gained from the use of a model and the use of previous experience in the form of recorded data through simulations and experiments. The book’s focus on deterministic systems allows for an in-depth Lyapunov-based analysis of the performance of the methods described during the learning phase and during execution. To yield an approximate optimal controller, the authors focus on theories and methods that fall under the umbrella of actor–critic methods for machine learning. They concentrate on establishing stability during the learning phase and the execution phase, and adaptive model-based and data-driven reinforcement learning, to assist readers in the learning process, which typically relies on instantaneous input-output measurements. This monograph provides academic researchers with backgrounds in diverse disciplines from aerospace engineering to computer science, who are interested in optimal reinforcement learning functional analysis and functional approximation theory, with a good introduction to the use of model-based methods. The thorough treatment of an advanced treatment to control will also interest practitioners working in the chemical-process and power-supply industry.
Author: Francesco Borrelli
Publisher: Cambridge University Press
ISBN: 1107016886
Category : Mathematics
Languages : en
Pages : 447
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Book Description
With a simple approach that includes real-time applications and algorithms, this book covers the theory of model predictive control (MPC).
Author: Fuchun Sun
Publisher: Springer Nature
ISBN: 9819980216
Category : Computers
Languages : en
Pages : 307
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Book Description
The two-volume set CCIS 1918 and 1919 constitutes the refereed post-conference proceedings of the 8th International Conference on Cognitive Systems and Information Processing, ICCSIP 2023, held in Luoyang, China, during August 10–12, 2023. The 52 full papers presented in these proceedings were carefully reviewed and selected from 136 submissions. The papers are organized in the following topical sections: Volume I : Award; Algorithm & Control; and Application. Volume II: Robotics & Bioinformatics; and Vision.
Author: Xinjun Liu
Publisher: Springer Nature
ISBN: 981199398X
Category : Technology & Engineering
Languages : en
Pages : 2228
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Book Description
This book presents the conference proceedings of the 23rd IFToMM China International Conference on Mechanism and Machine Science & Engineering (IFToMM CCMMS 2022). CCMMS was initiated in 1982, and it is the most important forum held in China for the exchange of research ideas, presentation of technical and scientific achievements, and discussion of future directions in the field of mechanism and machine science. The topics include parallel/hybrid mechanism synthesis and analysis, theoretical & computational kinematics, compliant mechanisms and micro/nano-mechanisms, reconfigurable and metamorphic mechanisms, space structures, mechanisms and materials, structure adaptation in space environment and ground testing, large-scale membrane deployable structures, construction and application of super-scale space systems, cams, gears and combining mechanisms, fluid power mechatronics drivetrain, mechanical design theory and methods, dynamics and vibration control, mechatronics, biologically inspired mechanisms and robotics, medical & rehabilitation robotics, mobile robotics, soft robotics, heavy non-road mobile machine, robot applications, engineering education on mechanisms, machines, and robotics. This book provides a state-of-the-art overview of current advances in mechanism and machine science in China. The inspiring ideas presented in the papers enlighten academic research and industrial application. The potential readers include academic researchers and industrial professionals in mechanism and machine science.
Author: China Society of Automotive Engineers
Publisher: Springer Nature
ISBN: 9819702526
Category :
Languages : en
Pages : 1601
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Book Description
Author: Carlos Guedes Soares
Publisher: CRC Press
ISBN: 1040125832
Category : Technology & Engineering
Languages : en
Pages : 609
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Book Description
Advances in Maritime Technology and Engineering comprises a collection of the papers presented at the 7th International Conference on Maritime Technology and Engineering (MARTECH 2024) held in Lisbon, Portugal, on 14-16 May 2024. This Conference has evolved from the series of biannual national conferences in Portugal, which have become an international event, reflecting the internationalization of the maritime sector and its activities. MARTECH 2024 is the seventh of this new series of biannual conferences. This book comprises 142 contributions that were reviewed by an International Scientific Committee. Advances in Maritime Technology and Engineering is dedicated to maritime transportation, ports as well as maritime safety and reliability. It further comprises sections dedicated to ship design, cruise ship design, and to the structural aspects of ship design, such as ultimate strength and composites, subsea structures as pipelines, and to ship building and ship repair. The Proceedings in Marine Technology and Ocean Engineering series is dedicated to the publication of proceedings of peer-reviewed international conferences dealing with various aspects of “Marine Technology and Ocean Engineering”. The series includes the proceedings of the following conferences: the International Maritime Association of the Mediterranean (IMAM) conferences, the Marine Structures (MARSTRUCT) conferences, the Renewable Energies Offshore (RENEW) conferences and the Maritime Technology (MARTECH) conferences. The “Marine Technology and Ocean Engineering” series is also open to new conferences that cover topics on the sustainable exploration of marine resources in various fields, such as maritime transport and ports, usage of the ocean including coastal areas, nautical activities, the exploration and exploitation of mineral resources, the protection of the marine environment and is resources, and risk analysis, safety and reliability. The aim of the series is to stimulate advanced education and training through the wide dissemination of the results of scientific research.
