Enlarging the Terminal Region of NMPC with Parameter-Dependent Terminal Control Law

2009 ◽  
pp. 69-78 ◽  
Author(s):  
Shuyou Yu ◽  
Hong Chen ◽  
Christoph Böhm ◽  
Frank Allgöwer
Keyword(s):  
Terminal Region ◽  
Control Law ◽  
Terminal Control ◽  
Parameter Dependent

Information dualism of the problem of optimum terminal control of dynamic object

2021 ◽  
pp. 85-90
Author(s):  
V.P. Ivanov
Keyword(s):  
Mathematical Model ◽  
Optimal Control ◽  
Control Law ◽  
Computational Algorithms ◽  
Terminal Control ◽  
Dynamic Object ◽  
Nonlinear Mathematical Model ◽  
Dynamical Object

The article deals with the problem of synthesis of terminal control. A functional, a nonlinear mathematical model of a dynamic object, restrictions on the maximum permissible values of control are given. The control law is synthesized. The following statement is proved: the synthesis of the optimal control is carried out using the entire initial mathematical model of the dynamical object, but to calculate the control at any particular moment of time, it is possible to use a reduced (truncated) model, which simplifies the computational algorithms. Thus, there is an informational dualism of the manage- ment task. The approach is an extension of the principle of information redefinition of Yu.B. Germeier to the area of optimal terminal control.

DELAYED CONTROL OF A MOORE–GREITZER AXIAL COMPRESSOR MODEL

2000 ◽  
Vol 10 (05) ◽  
pp. 1157-1164 ◽  
Author(s):  
WERNER AERNOUTS ◽  
DIRK ROOSE ◽  
RODOLPHE SEPULCHRE
Keyword(s):  
Closed Loop ◽  
Axial Compressor ◽  
Control Law ◽  
Control Laws ◽  
First Order ◽  
Parameter Variations ◽  
Numerical Bifurcation ◽  
Desirable Location ◽  
Delay Differential ◽  
Parameter Dependent

Several feedback control laws have appeared in the literature concerning the stabilization of the nonlinear Moore–Greitzer axial compression model. Motivated by magnitude and rate limitations imposed by the physical implementation of the control law, Larsen et al. studied a dynamic implementation of the S-controller suggested by Sepulchre and Kokotović. They showed the potential benefit of implementing the S-controller through a first-order lag: while the location of the closed-loop equilibrium achieved with the static control law was sensitive to poorly known parameters, the dynamic implementation resulted in a small limit cycle at a very desirable location, insensitive to parameter variations. In this paper, we investigate the more general case when the control is applied with a time delay. This can be seen as an extension of the model with a first-order lag. The delay can either be a result of system constraints or be deliberately implemented to achieve better system behavior. The resulting closed-loop system is a set of parameter-dependent delay differential equations. Numerical bifurcation analysis is used to study this model and investigate whether the positive results obtained for the first-order model persist, even for larger values of the delay.

Unmanned Powerboat Motion Terminal Control in an Environment with Moving Obstacles

2021 ◽  
Vol 22 (3) ◽  
pp. 145-154
Author(s):  
V. I. Finaev ◽  
M. Yu. Medvedev ◽  
V. Kh. Pshikhopov ◽  
V. A. Pereverzev ◽  
V. V. Soloviev
Keyword(s):  
Obstacle Avoidance ◽  
Moving Objects ◽  
Control Algorithms ◽  
Control Law ◽  
Movement Trajectory ◽  
Terminal Control ◽  
Safe Distance ◽  
Motion Trajectories ◽  
Moving Obstacles ◽  
Local Movement

The major point for consideration throughout this paper is controlling the motion of an unmanned powerboat in an obstructed environment with stationary and moving objects. It offers a procedure for the terminal control law development based on the powerboat programmed motion trajectory in a polynomial form and proposes position-trajectory-based control algorithms. A hybrid method based on virtual fields and unstable driving modes, taking into account powerboat speeds and obstacles, is used to plan motion trajectories for obstacle avoidance. There were experiments carried out to test the developed methods and algorithms meanwhile estimating the energy consumption for control, the length of the trajectory and the safety indicator for obstacle avoidance. The novelty of the proposed approach lies in the method used to develop a local movement trajectory in the field with obstacles and in the hybridization of trajectory scheduling methods. This approach allows us to achieve a given safe distance when avoiding obstacles and virtually eliminate the chances of an emergency collision. The presented results can be used in systems of boats autonomous motion control and allow safe stationary and dynamic obstacles avoidance.

DECENTRALIZED ROBUST CONTROL WITH GUARANTEED COST FOR HYBRID COMPLEX NETWORKS

2008 ◽  
Vol 05 (03) ◽  
pp. 283-289
Author(s):  
HAO ZHANG ◽  
QIJUN CHEN ◽  
HUAICHENG YAN
Keyword(s):  
Robust Control ◽  
Design Method ◽  
Sufficient Conditions ◽  
Control Law ◽  
Hybrid Complex ◽  
Guaranteed Cost ◽  
Riccati Matrix Equation ◽  
Decentralized Robust Control ◽  
Parameter Dependent ◽  
Riccati Matrix

In this paper, robust control of the decentralized guaranteed cost was studied for a class of complex network with impulsive effects and nonlinear perturbation. Based on the Lyapunov stability theorem, sufficient conditions for the decentralized guaranteed cost controllers were obtained. The design method of the decentralized guaranteed cost control law was given by solving a parameter-dependent Riccati matrix equation. An example is given to illustrate the effectiveness of the presented scheme.

scholarly journals An Offline Formulation of MPC for LPV Systems Using Linear Matrix Inequalities

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
P. Bumroongsri
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Control Law ◽  
Time Varying ◽  
Control Laws ◽  
Lpv Systems ◽  
Parameter Dependent ◽  
Dependent State

An offline model predictive control (MPC) algorithm for linear parameter varying (LPV) systems is presented. The main contribution is to develop an offline MPC algorithm for LPV systems that can deal with both time-varying scheduling parameter and persistent disturbance. The norm-bounding technique is used to derive an offline MPC algorithm based on the parameter-dependent state feedback control law and the parameter-dependent Lyapunov functions. The online computational time is reduced by solving offline the linear matrix inequality (LMI) optimization problems to find the sequences of explicit state feedback control laws. At each sampling instant, a parameter-dependent state feedback control law is computed by linear interpolation between the precomputed state feedback control laws. The algorithm is illustrated with two examples. The results show that robust stability can be ensured in the presence of both time-varying scheduling parameter and persistent disturbance.

scholarly journals STABILIZATION OF THE SPATIAL POSITION OF THE MANIPULATOR OF A PARALLEL-SEQUENTIAL STRUCTURE

2021 ◽  
pp. 17-21
Author(s):  
N. S. Vorob’eva
Keyword(s):  
Boundary Conditions ◽  
Spatial Position ◽  
Control Law ◽  
Terminal Control ◽  
Generalized Coordinates ◽  
Control Functions ◽  
Sequential Structure

A method for constructing terminal control based on the representation of control functions relative to time is considered. The parameters of the functions are determined from the condition of satisfying the boundary conditions at the ends of the trajectory of the generalized coordinates of the manipulator. On the basis of the obtained program movements, a control law with feedbacks is constructed.

Identification, N-terminal region sequencing and similarity analysis of differentially expressed proteins in Paracoccidioides brasiliensis

1999 ◽  
Vol 37 (2) ◽  
pp. 115-121 ◽  
Author(s):  
A. F. Cunha ◽  
M. V. Sousa ◽  
S. P. Silva ◽  
R. S. A. JesuIno ◽  
C. M. A. Soares ◽  
...  
Keyword(s):  
Paracoccidioides Brasiliensis ◽  
Terminal Region ◽  
Differentially Expressed ◽  
Similarity Analysis ◽  
Differentially Expressed Proteins
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