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Author: Christian Feller Publisher: Logos Verlag Berlin GmbH ISBN: 3832545441 Category : Technology & Engineering Languages : en Pages : 278
Book Description
In this thesis, we introduce the novel concept of relaxed barrier function based model predictive control and present a comprehensive theoretical and algorithmic framework for the design, analysis, and implementation of relaxed barrier function based MPC approaches. Instead of treating the underlying optimization as an idealized static map, a key motive of the MPC results and algorithms presented in this thesis is to study the interconnected dynamics of controlled plant and iterative optimization algorithm in an integrated barrier function based framework and to analyze the resulting overall closed-loop system both from a systems theoretic and algorithmic perspective. One of the presented main results is a novel class of barrier function based anytime MPC algorithms that guarantee important properties of the closed-loop system independently of the number of optimization algorithm iterations that are performed at each sampling step. The obtained theoretical results are illustrated by various numerical examples and benchmark tests as well as by an experimental case study in which the proposed class of barrier function based MPC algorithms is applied to the predictive control of a self-driving car.
Author: Christian Feller Publisher: Logos Verlag Berlin GmbH ISBN: 3832545441 Category : Technology & Engineering Languages : en Pages : 278
Book Description
In this thesis, we introduce the novel concept of relaxed barrier function based model predictive control and present a comprehensive theoretical and algorithmic framework for the design, analysis, and implementation of relaxed barrier function based MPC approaches. Instead of treating the underlying optimization as an idealized static map, a key motive of the MPC results and algorithms presented in this thesis is to study the interconnected dynamics of controlled plant and iterative optimization algorithm in an integrated barrier function based framework and to analyze the resulting overall closed-loop system both from a systems theoretic and algorithmic perspective. One of the presented main results is a novel class of barrier function based anytime MPC algorithms that guarantee important properties of the closed-loop system independently of the number of optimization algorithm iterations that are performed at each sampling step. The obtained theoretical results are illustrated by various numerical examples and benchmark tests as well as by an experimental case study in which the proposed class of barrier function based MPC algorithms is applied to the predictive control of a self-driving car.
Author: Fabian Russell Pfitz Publisher: Logos Verlag Berlin GmbH ISBN: 3832557059 Category : Languages : en Pages : 160
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: Peter Pfeffer Publisher: Springer Nature ISBN: 3662645505 Category : Technology & Engineering Languages : en Pages : 784
Book Description
The increasing automation of driving functions and the electrification of powertrains present new challenges for the chassis with regard to complexity, redundancy, data security, and installation space. At the same time, the mobility of the future will also require entirely new vehicle concepts, particularly in urban areas. The intelligent chassis must be connected, electrified, and automated in order to be best prepared for this future. Contents Driving Simulators.- Innovative Chassis Systems.- Automated Driving and Racing.- New Methods and Systems.- Suspension and Ride Comfort.- All-Wheel Steering.- Future Brake Systems and Testing Technology.- Innovations in Tires and Wheels. Target audiences Automotive engineers and chassis specialists as well as students looking for state-of-the-art information regarding their field of activity - Lecturers and instructors at universities and universities of applied sciences with the main subject of automotive engineering - Experts, researchers and development engineers of the automotive and the supplying industry. Publisher ATZ live stands for top quality and a high level of specialist information and is part of Springer Nature, one of the leading publishing groups worldwide for scientific, educational and specialist literature. Partner TÜV SÜD is an international leading technical service organisation catering to the industry, mobility and certification segment.
Author: Meriem Gharbi Publisher: Logos Verlag Berlin GmbH ISBN: 3832554564 Category : Technology & Engineering Languages : en Pages : 174
Book Description
In this thesis, we develop and analyze a novel framework for moving horizon estimation (MHE) of linear and nonlinear constrained discrete-time systems, which we refer to as proximity moving horizon estimation. The conceptual idea of the proposed framework is to employ a stabilizing a priori solution in order to ensure stability of MHE and to combine it with an online convex optimization in order to obtain an improved performance without jeopardizing stability. The goal of this thesis is to provide proximity-based MHE approaches with desirable theoretical properties and for which reliable and numerically efficient algorithms allow the estimator to be applied in real-time applications. In more detail, we present constructive and simple MHE design procedures which are tailored to the considered class of dynamical systems in order to guarantee important properties of the resulting estimation error dynamics. Furthermore, we develop computationally efficient MHE algorithms in which a suboptimal state estimate is computed at each time instant after an arbitrary and limited number of optimization algorithm iterations. In particular, we introduce a novel class of anytime MHE algorithms which ensure desirable stability and performance properties of the estimator for any number of optimization algorithm iterations, including the case of a single iteration per time instant. In addition to the obtained theoretical results, we discuss the tuning of the performance criteria in proximity MHE given prior knowledge on the system disturbances and illustrate the theoretical properties and practical benefits of the proposed approaches with various numerical examples from the literature.
Author: Simon Michalowsky Publisher: Logos Verlag Berlin GmbH ISBN: 3832550909 Category : Technology & Engineering Languages : en Pages : 165
Book Description
Optimization algorithms are the backbone of many modern technologies. In this thesis, we address the analysis and design of optimization algorithms from a systems theoretic viewpoint. By properly recasting the algorithm design as a controller synthesis problem, we derive methods that enable a systematic design of tailored optimization algorithms. We consider two specific classes of optimization algorithms: (i) distributed, and (ii) robust optimization algorithms. Concerning (i), we utilize ideas from geometric control in an innovative fashion to derive a novel methodology that enables the design of distributed optimization algorithms under minimal assumptions on the graph topology and the structure of the optimization problem. Concerning (ii), we employ robust control techniques to establish a framework for the analysis of existing algorithms as well as the design of novel robust optimization algorithms with specified guarantees.
Author: Wei Xiao Publisher: Springer Nature ISBN: 3031275764 Category : Technology & Engineering Languages : en Pages : 228
Book Description
This book presents the concept of Control Barrier Function (CBF), which captures the evolution of safety requirements during the execution of a system and can be used to enforce safety. Safety is formalized using an emerging state-of-the-art approach based on CBFs, and many illustrative examples from autonomous driving, traffic control, and robot control are provided. Safety is central to autonomous systems since they are intended to operate with minimal or no human supervision, and a single failure could result in catastrophic results. The authors discuss how safety can be guaranteed via both theoretical and application perspectives. This presented method is computationally efficient and can be easily implemented in real-time systems that require high-frequency reactive control. In addition, the CBF approach can easily deal with nonlinear models and complex constraints used in a wide spectrum of applications, including autonomous driving, robotics, and traffic control. With the proliferation of autonomous systems, such as self-driving cars, mobile robots, and unmanned air vehicles, safety plays a crucial role in ensuring their widespread adoption. This book considers the integration of safety guarantees into the operation of such systems including typical safety requirements that involve collision avoidance, technological system limitations, and bounds on real-time executions. Adaptive approaches for safety are also proposed for time-varying execution bounds and noisy dynamics.
Author: Eduardo F. Camacho Publisher: Springer Science & Business Media ISBN: 1447130081 Category : Technology & Engineering Languages : en Pages : 250
Book Description
Model Predictive Control is an important technique used in the process control industries. It has developed considerably in the last few years, because it is the most general way of posing the process control problem in the time domain. The Model Predictive Control formulation integrates optimal control, stochastic control, control of processes with dead time, multivariable control and future references. The finite control horizon makes it possible to handle constraints and non linear processes in general which are frequently found in industry. Focusing on implementation issues for Model Predictive Controllers in industry, it fills the gap between the empirical way practitioners use control algorithms and the sometimes abstractly formulated techniques developed by researchers. The text is firmly based on material from lectures given to senior undergraduate and graduate students and articles written by the authors.
Author: Sorin Olaru Publisher: Springer ISBN: 331926687X Category : Technology & Engineering Languages : en Pages : 385
Book Description
This book deals with optimization methods as tools for decision making and control in the presence of model uncertainty. It is oriented to the use of these tools in engineering, specifically in automatic control design with all its components: analysis of dynamical systems, identification problems, and feedback control design. Developments in Model-Based Optimization and Control takes advantage of optimization-based formulations for such classical feedback design objectives as stability, performance and feasibility, afforded by the established body of results and methodologies constituting optimal control theory. It makes particular use of the popular formulation known as predictive control or receding-horizon optimization. The individual contributions in this volume are wide-ranging in subject matter but coordinated within a five-part structure covering material on: · complexity and structure in model predictive control (MPC); · collaborative MPC; · distributed MPC; · optimization-based analysis and design; and · applications to bioprocesses, multivehicle systems or energy management. The various contributions cover a subject spectrum including inverse optimality and more modern decentralized and cooperative formulations of receding-horizon optimal control. Readers will find fourteen chapters dedicated to optimization-based tools for robustness analysis, and decision-making in relation to feedback mechanisms—fault detection, for example—and three chapters putting forward applications where the model-based optimization brings a novel perspective. Developments in Model-Based Optimization and Control is a selection of contributions expanded and updated from the Optimisation-based Control and Estimation workshops held in November 2013 and November 2014. It forms a useful resource for academic researchers and graduate students interested in the state of the art in predictive control. Control engineers working in model-based optimization and control, particularly in its bioprocess applications will also find this collection instructive.
Author: Christian Feller
Author: Christian Feller
Author: Adrian Wills (PhD.)
Author: Fabian Russell Pfitz
Author: Peter Pfeffer
Author: Jinfeng Liu
Author: Meriem Gharbi
Author: Simon Michalowsky 
Author: Wei Xiao
Author: Eduardo F. Camacho
Author: Sorin Olaru