A Model Predictive Control Based Iterative Trajectory Optimization Method for Systems with State-Like Disturbances

2019 ◽  
Author(s):  
Merrill Edmonds ◽  
Jingang Yi
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Trajectory Optimization ◽  
Optimization Method

scholarly journals Trajectory Generation for Mobile Robots in a Dynamic Environment using Nonlinear Model Predictive Control

2021 ◽  
Author(s):  
Jonas Berlin ◽  
Georg Hess ◽  
Anton Karlsson ◽  
William Ljungbergh ◽  
Ze Zhang ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Long Range ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Trajectory Generation ◽  
Dynamic Environment ◽  
Optimization Method ◽  
Time Frame ◽  
Nonlinear Model Predictive Control ◽  
Robot Dynamics

This paper presents an approach to collision-free, long-range trajectory generation for a mobile robot in an industrial environment with static and dynamic obstacles. For the long range planning a visibility graph together with A* is used to find a collision-free path with respect to the static obstacles. This path is used as a reference path to the trajectory planning algorithm that in addition handles dynamic obstacles while complying with the robot dynamics and constraints. A Nonlinear Model Predictive Control (NMPC) solver generates a collision-free trajectory by staying close the initial path but at the same time obeying all constraints. The NMPC problem is solved efficiently by leveraging the new numerical optimization method Proximal Averaged Newton for Optimal Control (PANOC). The algorithm was evaluated by simulation in various environments and successfully generated feasible trajectories spanning hundreds of meters in a tractable time frame.

scholarly journals Trajectory optimization for Rendezvous and Docking using Nonlinear Model Predictive Control

2020 ◽  
Vol 53 (1) ◽  
pp. 518-523
Author(s):  
L. Ravikumar ◽  
Radhakanth Padhi ◽  
N.K. Philip
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Trajectory Optimization ◽  
Nonlinear Model Predictive Control ◽  
Rendezvous And Docking

The Restricted Newton Method for Fast Nonlinear Model Predictive Control

2019 ◽  
Author(s):  
Anson Maitland ◽  
Chi Jin ◽  
John McPhee
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Newton’S Method ◽  
Newton's Method ◽  
Gradient Descent ◽  
Autonomous Vehicle ◽  
Optimization Method ◽  
Selection Strategies ◽  
Two Parameters ◽  
Two Parameter

Abstract We introduce the Restricted Newton’s Method (RNM), a basic optimization method, to accelerate model predictive control turnaround times. RNM is a hybrid of Newton’s method (NM) and gradient descent (GD) that can be used as a building block in nonlinear programming. The two parameters of RNM are the subspace on which we restrict the Newton steps and the maximal size of the GD step. We present a convergence analysis of RNM and demonstrate how these parameters can be selected for MPC applications using simple machine learning methods. This leads to two parameter selection strategies with different convergence behaviour. Lastly, we demonstrate the utility of RNM on a sample autonomous vehicle problem with promising results.

scholarly journals Freeway Traffic Congestion Reduction and Environment Regulation via Model Predictive Control

Algorithms ◽  
2019 ◽  
Vol 12 (10) ◽  
pp. 220 ◽  
Author(s):  
Juan Chen ◽  
Yuxuan Yu ◽  
Qi Guo
Keyword(s):  
Model Predictive Control ◽  
Fuel Consumption ◽  
Predictive Control ◽  
Traffic Congestion ◽  
Control Method ◽  
Optimization Method ◽  
Speed Limit ◽  
Multi Objective Optimization ◽  
Nsga Ii ◽  
Multi Objective

This paper proposes a model predictive control method based on dynamic multi-objective optimization algorithms (MPC_CPDMO-NSGA-II) for reducing freeway congestion and relieving environment impact simultaneously. A new dynamic multi-objective optimization algorithm based on clustering and prediction with NSGA-II (CPDMO-NSGA-II) is proposed. The proposed CPDMO-NSGA-II algorithm is used to realize on-line optimization at each control step in model predictive control. The performance indicators considered in model predictive control consists of total time spent, total travel distance, total emissions and total fuel consumption. Then TOPSIS method is adopted to select an optimal solution from Pareto front obtained from MPC_CPDMO-NSGA-II algorithm and is applied to the VISSIM environment. The control strategies are variable speed limit (VSL) and ramp metering (RM). In order to verify the performance of the proposed algorithm, the proposed algorithm is tested under the simulation environment originated from a real freeway network in Shanghai with one on-ramp. The result is compared with fixed speed limit strategy and single optimization method respectively. Simulation results show that it can effectively alleviate traffic congestion, reduce emissions and fuel consumption, as compared with fixed speed limit strategy and classical model predictive control method based on single optimization method.

Fast nonlinear Model Predictive Control for unified trajectory optimization and tracking

2016 ◽  
Author(s):  
Michael Neunert ◽  
Cedric de Crousaz ◽  
Fadri Furrer ◽  
Mina Kamel ◽  
Farbod Farshidian ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Trajectory Optimization ◽  
Nonlinear Model Predictive Control
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