Results 1 - 10 of 73

Hybrid decentralized receding horizon control of vehicle formations

by Francesco Borrelli, Gary J. Balas
"... Abstract — A hybrid rule-based extension of a recently pro-posed decentralized Receding Horizon Control (RHC) scheme is presented for vehicle formation control. The scheme makes use of logic rules which improve stability and feasibility of the decentralized method by enforcing coordination. The dece ..."
Abstract - Add to MetaCart
Abstract — A hybrid rule-based extension of a recently pro-posed decentralized Receding Horizon Control (RHC) scheme is presented for vehicle formation control. The scheme makes use of logic rules which improve stability and feasibility of the decentralized method by enforcing coordination

A Receding Horizon Generalization of Pointwise Min-Norm Controllers

by James A. Primbs , Vesna Nevistic, John C. Doyle , 2000
"... Control Lyapunov functions (CLFs) are used in conjunction with receding horizon control (RHC) to develop a new class of receding horizon control schemes. In the process, strong connections between the seemingly disparate approaches are revealed, leading to a unified picture that ties together the no ..."
Abstract - Cited by 38 (0 self) - Add to MetaCart
-time receding horizon control law. The issue of implementation under discrete-time sampling is then discussed as a modification. These schemes are shown to possess a number of desirable theoretical and implementation properties. An example is provided, demonstrating their application to a nonlinear control

Stochastic receding horizon control: application to an octopedal robot

by Shridhar K. Shah A, Herbert G. Tanner A
"... Miniature autonomous systems are being developed under ARL’s Micro Autonomous Systems and Technology (MAST). These systems can only be fitted with a small-size processor, and their motion behavior is inherently uncertain due to manufacturing and platform-ground interactions. One way to capture this ..."
Abstract - Add to MetaCart
takes the form of stochastic receding horizon control, and is implemented on a Gumstix Overo Fire COM with 720 MHz processor and 512 MB RAM, weighing 5.5 g. The experimental results show the effectiveness of this control law for miniature autonomous systems perturbed by stochastic noise.

On the Stability of a Class of Robust Receding Horizon Control Laws for Constrained Systems ∗

by Paul J. Goulart, Eric C. Kerrigan , 2005
"... This paper is concerned with the stability of a class of robust and constrained optimal control laws for linear discrete-time systems subject to bounded state disturbances and arbitrary convex constraints on the states and inputs. The paper considers the class of feedback control policies parameteri ..."
Abstract - Cited by 4 (3 self) - Add to MetaCart
in the design of a robust receding horizon controller, we provide sufficient conditions to establish that the closed-loop system is inputto-state stable (ISS). The paper further shows that the resulting control law has an interesting interpretation as the projection of the optimal unconstrained linearquadratic

Control Lyapunov Function based Receding Horizon Control for Time-Varying Systems

by James Primbs, Monica Giannelli - In International Federation of Automatic Control, 14th World Congress , 1998
"... A control Lyapunov function (CLF) based scheme is proposed for the time-varying nonlinear optimal control problem. This scheme also inherits an extension to a receding horizon scheme, reaping the benefits of available on-line computation. In particular, these time-varying schemes are well suited to ..."
Abstract - Cited by 1 (1 self) - Add to MetaCart
A control Lyapunov function (CLF) based scheme is proposed for the time-varying nonlinear optimal control problem. This scheme also inherits an extension to a receding horizon scheme, reaping the benefits of available on-line computation. In particular, these time-varying schemes are well suited

Hierarchical design of decentralized receding horizon controllers for decoupled systems

by Tamás Keviczky, Francesco Borrelli, Gary J. Balas - IEEE Conference on Decision and Control
"... Abstract — In a recent paper [1] we have proposed a method for designing decentralized receding horizon controllers (RHC). Each RHC controller is associated to a different node and computes the local control inputs based only on the states of the node and of its neighbors. For such a decentralized s ..."
Abstract - Cited by 6 (4 self) - Add to MetaCart
Abstract — In a recent paper [1] we have proposed a method for designing decentralized receding horizon controllers (RHC). Each RHC controller is associated to a different node and computes the local control inputs based only on the states of the node and of its neighbors. For such a decentralized

State Feedback Policies for Robust Receding Horizon Control: Uniqueness, Continuity, and Stability

by Paul J. Goulart, Eric C. Kerrigan, Jan M. Maciejowski
"... Abstract — In this paper we consider the problem of controlling linear discrete-time systems subject to unknown disturbances and mixed constraints on the states and inputs, using a class of affine state-feedback control policies implemented in a receding horizon fashion. By defining a quadratic cost ..."
Abstract - Cited by 1 (0 self) - Add to MetaCart
cost function in the disturbance-free sequence of states and controls, we demonstrate that this parameterization can be used in the synthesis of a nonlinear time-invariant receding horizon control law that is robustly invariant, unique and continuous in the initial state, and with guaranteed input

Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators

by unknown authors
"... Abstract: The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted tracking error and the predicted control effort. A key ..."
Abstract - Add to MetaCart
Abstract: The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted tracking error and the predicted control effort. A key

A Method for Robust Receding Horizon Output Feedback Control of Constrained Systems

by Paul J. Goulart, Eric C. Kerrigan , 2006
"... This paper considers output feedback control of linear discrete-time systems with convex state and input constraints and subject to bounded state disturbances and output measurement errors. We show that the non-convex problem of finding a constraint admissible affine output feedback policy, to be us ..."
Abstract - Add to MetaCart
, to be used in conjunction with a fixed linear state observer, can be converted to an equivalent convex problem. When used in the design of a time-varying robust receding horizon control (RHC) law, we derive conditions under which the resulting closed-loop system is guaranteed to satisfy the system

Receding Horizon Control: an Effective Methodology for Energy Management in Complex Systems

by unknown authors
"... Abstract: The optimization and control of complex systems represents a crucial issue in the industry community. The classical approaches make use of the decomposition of the system into several subsystems, each of them being locally optimized. However, this idea can lead to strong suboptimal control ..."
Abstract - Add to MetaCart
control laws. In this paper, a generic method based on the receding horizon principles is developed, which allows to take into account the system as a whole and to exploit the interconnection dynamics. Several industrial examples are given, showing the versatility of the method.
Results 1 - 10 of 73