Home  About us  Contact
 

Horizon Control (horizon + control)

Distribution by Scientific Domains
Engineering100%

Selected Abstracts

Experiments on stabilizing receding horizon control of a direct drive manipulator

ELECTRONICS & COMMUNICATIONS IN JAPAN, Issue 5 2008
Yasunori Kawai
Abstract In this paper, the application of receding horizon control to a two-link direct drive robot arm is demonstrated. Instead of terminal constraints, a terminal cost on receding horizon control is used to guarantee stability, because of the computational demand. The key idea of this paper is to apply receding horizon control with a terminal cost derived from the energy function of the robot system. The energy function is defined as the control Lyapunov function by considering inverse optimality. In experimental results, stability and performance are compared with respect to the horizon length by applying receding horizon control and inverse optimal control to the robot arm. © 2008 Wiley Periodicals, Inc. Electron Comm Jpn, 91(5): 33,40, 2008; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ecj.10113 [source]

Real-time scheduling of multiple uncertain receding horizon control systems

OPTIMAL CONTROL APPLICATIONS AND METHODS, Issue 2 2009
Behnood Gholami
Abstract In this paper, a new scheduling approach is proposed that considers the effect of modeling uncertainty for multiple continuous time receding horizon control (RHC) systems. This is accomplished by combining a scheduling approach with results from the continuous time nonlinear systems theory. It is shown that using a rate monotonic priority assignment method combined with analytical bounds on the prediction error, the problem of scheduling multiple uncertain plants can be cast into an appropriate constrained optimization problem. The constraints guarantee that the processes will be schedulable. The optimization provides optimized performance and balanced resource allocation in the presence of uncertainty. The proposed method was applied to a real-time simulation of RHC trajectory tracking for two hovercraft vehicles demonstrating the validity of the approach. Copyright © 2008 John Wiley & Sons, Ltd. [source]

Properties of parameter-dependent open-loop MPC for uncertain systems with polytopic description,

ASIAN JOURNAL OF CONTROL, Issue 1 2010
Baocang Ding
Abstract This paper investigates the parameter-dependent open-loop model predictive control (PDOLMPC) scheme for systems with a polytopic uncertainty description. PDOLMPC parameterizes the infinite horizon control moves into a number of free control moves followed by a single state feedback law. The free control moves (excluding the first one) are parameter dependent and constructed upon all of the extreme realizations of the uncertainty before the switching horizon N. Our primary contribution is to point out that this PDOLMPC is a relaxed version of the feedback MPC. Thus, some properties of nominal MPC, such as enhancement of optimality and enlargement of region of attraction by increasing the switching horizon, can be inherited in PDOLMPC. These properties are theoretically important for robust MPC and a simulation example is given for demonstration. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source]