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LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints

Lutao Liu, Zhilin Liu, Jun Zhang
2014 Abstract and Applied Analysis  
It is shown that, based on LMIs, it is easy to get the MPC for the USV with input constraints.  ...  When the states reach the region, the control law is switched to stabilize the system.  ...  Acknowledgments This work is partially supported by National Natural Science Foundation of China (61201410, 51379044), Fundamental Research Funds for the Central Universities (HEUCFX41304).  ... 
doi:10.1155/2014/673256 fatcat:xkifspgkyrdptjef4pxomr2geq

Robust Control Design for an Uncertain Macroeconomic Dynamical System with Unknown Characteristics and Inequality Control Constraint

Xiaorui Xie, Ye-Hwa Chen, Lucia Valentina Gambuzza
2021 Complexity  
The main features of this system are that the system uncertainties may be unknown functions of state and time but with known bounds.  ...  Furthermore, the control inputs are subject to constraints, which is a salient feature in an economic control problem.  ...  functions of state and time. e control inputs are subject to two-side inequality constraints.  ... 
doi:10.1155/2021/8826480 fatcat:axcday24onbhvmokvt4sawimiy

Nonlinear Model Predictive Horizon for Optimal Trajectory Generation

Younes Al Younes, Martin Barczyk
2021 Robotics  
This paper presents a trajectory generation method for a nonlinear system under closed-loop control (here a quadrotor drone) motivated by the Nonlinear Model Predictive Control (NMPC) method.  ...  Our algorithm is applied to a quadrotor system to generate optimal reference trajectories in 3D, and several simulation scenarios are provided to validate the features and evaluate the performance of the  ...  Institutional Review Board Statement: Not applicable. Informed Consent Statement: Not applicable. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/robotics10030090 fatcat:3uvlllhjgrcalgtgmhrzl65bey

Observer-based model predictive control

Bas Roset *, Henk Nijmeijer
2004 International Journal of Control  
In this paper the complete state is assumed not to be known and only outputs and inputs of the system are measured.  ...  To obtain knowledge of the full state an observer is used to obtain an estimate of the state.  ...  To cope with all the given constraints in the control synthesis, Model Predictive control is used to control the system.  ... 
doi:10.1080/00207170412331326855 fatcat:amai7dck7jhtfh7no5rsi4kpty

Nonlinear Model Predictive Control with Terminal Invariant Manifolds for Stabilization of Underactuated Surface Vessel

Lutao Liu, Zhilin Liu, Jun Zhang
2013 Abstract and Applied Analysis  
It is shown that, based on invariant manifolds constraints, it is easy to get the MPC for the USV and it is suitable for practical application.  ...  A nonlinear model predictive control (MPC) is proposed for underactuated surface vessel (USV) with constrained invariant manifolds.  ...  Acknowledgments The authors are grateful to their colleagues from the College of Information and Telecommunication and the College of Automation in Harbin Engineering University for providing helpful comments  ... 
doi:10.1155/2013/846389 fatcat:ehjhya3eung73jzjzawbq44vpi

Convergence Guaranteed Nonlinear Constraint Model Predictive Control via I/O Linearization

Xiaobing Kong, Xiangjie Liu, Xiuming Yao
2013 Mathematical Problems in Engineering  
By using an input-output feedback linearizing controller, the original linear input constraints will change to nonlinear constraints and sometimes the constraints are state dependent.  ...  Constituting reliable optimal solution is a key issue for the nonlinear constrained model predictive control. Input-output feedback linearization is a popular method in nonlinear control.  ...  With this nonlinear and state dependent input constraint, traditional QP cannot be used to calculate the optimal control sequence.  ... 
doi:10.1155/2013/476367 fatcat:jr6dip4lzneffnnbkb2u6o326a

Coordinates and Input Transformation for State Constrained Nonlinear System
状態制約を有する非線形システムに対する状態方程式を保持する変換

Shunsuke KIMURA, Hisakazu NAKAMURA, Tatsuya IBUKI, Mitsuji SAMPEI
2017 Transactions of the Society of Instrument and Control Engineers  
Coordinates transformation is a fundamental tool for nonlinear system control. Particularly, the transformation is also applied to state constrained problems.  ...  By the proposed transformation, a controller for state constrained systems can be designed by using a controller for unconstrained systems.  ...  Fossas: Diffeomorphism-based control of nonlinear systems subject to state constraints with actual applications, Proceedings of the 2014 IEEE Multi-Conference on Systems and Control, S. Kimura, H.  ... 
doi:10.9746/sicetr.53.337 fatcat:j37mbsehffdttg3m76ci6fehwi

Robust model predictive control for non-linear systems with input and state constraints via feedback linearization

Yash Vardhan Pant, Houssam Abbas, Rahul Mangharam
2016 2016 IEEE 55th Conference on Decision and Control (CDC)  
Robust predictive control of non-linear systems under state estimation errors and input and state constraints is a challenging problem, and solutions to it have generally involved solving computationally  ...  Abstract-Robust predictive control of non-linear systems under state estimation errors and input and state constraints is a challenging problem, and solutions to it have generally involved solving computationally  ...  INTRODUCTION In this paper we are concerned with the problem of controlling nonlinear dynamical systems S of the formẋ = f (x) + G(x)u under state and input constraints, and subject to errors in the state  ... 
doi:10.1109/cdc.2016.7799144 dblp:conf/cdc/PantAM16 fatcat:6teohrh4hbf4nbjh34es2bq7xq

Chained-form design and motion planning for a nonholonomic manipulator

Liang Li
2017 Modelling Measurement and Control B  
The conclusion indicates that the three joints nonholonomic manipulator prototype can move to terminal configuration smoothly with singularity avoidance method and it is feasible to design a controllable  ...  This paper provides a method for a controllable nonholonomic mechanical system.  ...  This system is said to be driftless, meaning to say that the state of the system does not drift when the controls are set to zero.  ... 
doi:10.18280/mmc_b.860113 fatcat:7s3urezrxfbdfahrvecqjk5qaq

Learning robot motions with stable dynamical systems under diffeomorphic transformations

Klaus Neumann, Jochen J. Steil
2015 Robotics and Autonomous Systems  
We apply the proposed framework to extend the application domain of the stable estimator of dynamical systems (SEDS) by generalizing the class of learnable demonstrations by means of diffeomorphic transformations  ...  However, the proof also reveals that movements learned by SEDS are restricted to contractive dynamics corresponding to a quadratic Lyapunov function, i.e. that the distance of the current state to the  ...  Mohammad Khansari-Zadeh and the LASA Lab at EPFL for providing the open source software of SEDS.  ... 
doi:10.1016/j.robot.2015.04.006 fatcat:sy7xzspl4netrftkcjufbaku7a

Robust state feedback synthesis for control of non-square multivariable nonlinear systems

Srinivas Palanki, Juan C. Cockburn, Soumitri N. Kolavennu
2003 Journal of Process Control  
A robust controller is designed for the linear uncertain subsystem using a multi-model H 2 =H 1 synthesis approach to ensure robust stability and performance of non-square multivariable, nonlinear systems  ...  In this paper, a robust nonlinear controller is designed in the Input/Output (I/O) linearization framework, for non-square multivariable nonlinear systems that have more inputs than outputs and are subject  ...  When the nominal parameter vector o is not equal to the actual plant parameter vector , the diffeomorphism based on o does not lead to an exactly input-output linearizable system.  ... 
doi:10.1016/s0959-1524(02)00098-7 fatcat:3yvxgby7hzgqlonl7apdm2mfrm

Augmented invariance control for systems with smoothness constraints

Melanie Kimmel, Christoph Jahne, Sandra Hirche
2016 2016 IEEE 55th Conference on Decision and Control (CDC)  
In many applications, the controlled dynamical system is subject to constraints, e.g. to enforce a desired performance. There are various methods, which guarantee the enforcement of such constraints.  ...  This work presents a novel method of designing a control input, which guarantees the adherence to constraints as well as a desired smoothness of the system state.  ...  INTRODUCTION In control applications the system behavior is often subject to constraints.  ... 
doi:10.1109/cdc.2016.7799013 dblp:conf/cdc/KimmelJH16 fatcat:ujnocmzn25cl5gzqri6wsbhltu

Multiple Shape Registration using Constrained Optimal Control [article]

Sylvain Arguillère, Emmanuel Trélat, Alain Trouvé, Laurent Younes
2015 arXiv   pre-print
The method is described within the optimal control formalism, and optimality conditions are given, together with the equations that are needed to implement augmented Lagrangian methods.  ...  Lagrangian particle formulations of the large deformation diffeomorphic metric mapping algorithm (LDDMM) only allow for the study of a single shape.  ...  The investigation of these additional applications will be the subject of future work.  ... 
arXiv:1503.00758v1 fatcat:rusrgwd2qzgn5mwxrelwecrdy4

Transformation invariant stochastic catastrophe theory

Eric-Jan Wagenmakers, Peter C.M. Molenaar, Raoul P.P. P. Grasman, Pascal A.I. Hartelman, Han L.J. van der Maas
2005 Physica D : Non-linear phenomena  
In SCT, the stable and unstable equilibrium states of the system correspond to the modes and the antimodes of the empirical probability density function, respectively.  ...  This invariant function can be estimated by a straightforward time series analysis based on level crossings. We illustrate the invariance problem and its solution with two applications.  ...  We are grateful to Dr. Udo Schwarz for sending us the Cygnus X-1 data, and we thank Scott Brown for helpful comments.  ... 
doi:10.1016/j.physd.2005.08.014 fatcat:jmgnrj25bvfitjel2k4fzh5poi

Rolling bodies with regular surface: controllability theory and applications

A. Marigo, A. Bicchi
2000 IEEE Transactions on Automatic Control  
Pairs of bodies with regular rigid surfaces rolling onto each other in space form a nonholonomic system of a rather general type, posing several interesting control problems of which not much is known.  ...  In order to achieve all potential benefits, a deeper understanding of these types of systems and more practical algorithms for planning and controlling their motions are necessary.  ...  ACKNOWLEDGMENT The authors wish to thank Y. Chitour and S. S. Sastry for early cooperative work on this subject and many fruitful discussions. The role of R.  ... 
doi:10.1109/9.880610 fatcat:uejmzroivbdqvlclz2s7xi2p6u
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