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Online Robust Control of Linear Dynamical Systems with Prediction
[article]
2021
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We address the online robust control problem of a linear dynamical system with adversarial cost functions and adversarial disturbances. ...
We then propose an online robust control algorithm for a more challenging setting where only the preview of the cost functions is available. ...
Problem Preliminaries We consider the problem of online robust control of a linear dynamical system with cost functions and disturbance chosen by an adversary. ...
doi:10.48550/arxiv.2111.15063
fatcat:4753x5rlizdivi7doatymahufe
COMPUTATIONALLY EFFICIENT ROBUST MODEL PREDICTIVE CONTROL OF MAGNETIC SUSPENSION SYSTEMS
2020
INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY
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Robust model predictive control (MPC) of a general magnetic suspension system (MSS) is analyzed. ...
of uncertainties and disturbances in the linearized dynamics model and explore its applicability for a range of operating points or reference inputs of the MSS. ...
ROBUST MODEL PREDICTIVE CONTROL Model predictive control is based on an online optimization, at each time step, , of a sequence of future control inputs in order to obtain an input sequence that minimizes ...
doi:10.34218/ijeet.11.4.2020.033
fatcat:a7gx27sxmnbb5buogr4gxcs3kq
Guest Editorial Introduction to the Special Issue of the IEEE L-CSS on Learning and Control
2020
IEEE Control Systems Letters
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with time delays of similar order to their system dynamics. ...
"Approximate Closed-Loop Robust Model Predictive Control With Guaranteed Stability and Constraint Satisfaction": Paulson and Mesbah address the real-time implementation of closed-loop robust MPC schemes ...
doi:10.1109/lcsys.2020.2986590
fatcat:wx42r4h6ond3dkjntcwsdrmojy
Robust Adaptive Model Predictive Control with Worst-Case Cost
2020
IFAC-PapersOnLine
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A robust adaptive model predictive control (MPC) algorithm is presented for linear, time invariant systems with unknown dynamics and subject to bounded measurement noise. ...
Online set-membership identification is used to reduce uncertainty in the impulse response. ...
Abstract: A robust adaptive model predictive control (MPC) algorithm is presented for linear, time invariant systems with unknown dynamics and subject to bounded measurement noise. ...
doi:10.1016/j.ifacol.2020.12.2467
fatcat:uivlauo2tnailitgvfirghglvi
Robust model predictive control for non-linear systems with input and state constraints via feedback linearization
2016
2016 IEEE 55th Conference on Decision and Control (CDC)
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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 ...
In this paper, we solve this problem of robust control of a non-linear system under bounded state estimation errors and input and state constraints using feedback linearization. ...
DISCUSSION In this paper we develop the first algorithm for robust control of a non-linear system with estimation errors and state and input constraints via feedback linearization and Robust MPC. ...
doi:10.1109/cdc.2016.7799144
dblp:conf/cdc/PantAM16
fatcat:6teohrh4hbf4nbjh34es2bq7xq
Linear and nonlinear MPC for track following in the design of HDD servo systems
2014
International Journal of Systems Control and Communications
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Nonlinear compensation of high-frequency dynamics is achieved using two control algorithms generated from model predictive control (MPC): classical linear MPC, and MPC technique with multiple coincidence ...
This paper aims at applying the proposed predictive control solutions to resolve the track-following problem of the read/write (R/W) head of a HDD servo-system in different operating conditions. ...
This paper is a revised and expanded version of two conference papers: 'Model predictive tracking control for a head-positioning in a hard-disk-drive' presented at the 21st Mediterranean Conference on ...
doi:10.1504/ijscc.2014.062799
fatcat:6nlhoicw25djhhuu6pr24l5rci
Predictive Functional Control-Based Missile Autopilot Design
2012
Journal of Guidance Control and Dynamics
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The Internet Archive has digitized a microfilm copy of this work. It may be possible to borrow a copy for reading.
Compared with the conventional predictive control algorithms, which usually involve an online quadratic programming in the practical implementation, the new controller demands less online computation resources ...
A new design procedure of attitude control system for a highly nonlinear missile is presented based on the weil- developed predictive functional method for linear time-invariant systems. ...
doi:10.2514/1.56329
fatcat:iztodo2eija4hb7lzz2akervz4
Automatic Offline Formulation of Robust Model Predictive Control Based on Linear Matrix Inequalities Method
2013
Abstract and Applied Analysis
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Two automatic robust model predictive control strategies are presented for uncertain polytopic linear plants with input and output constraints. ...
Then the feedback controllers are automatically selected with the receding horizon online in the first strategy. ...
dynamic systems. ...
doi:10.1155/2013/380105
fatcat:lpamfhkbrff4jmfa4ze4lr4eqa
Special Issue: Adaptive Methods for Resilient Control Systems
2021
International Journal of Adaptive Control and Signal Processing
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The paper "Robust nonlinear adaptation algorithms for multi-task prediction networks" by Abulikemu Abuduweili and Changliu Liu studies robust online algorithms to adapt nonlinear prediction models, which ...
The authors introduced a robust online adaptation algorithm MEKF-MA-ME by combining exponential moving average and multi-epoch update with the modified EKF algorithm. ...
Such a controlled plant is described by an uncertain time-varying nonlinear system, and some robust adaptive feedback linearization based failure compensation results are studied for closed-loop system ...
doi:10.1002/acs.3220
fatcat:cg5ok4xgrbagro3igadwth3qfu
Experience-driven Predictive Control with Robust Constraint Satisfaction under Time-Varying State Uncertainty
2017
Robotics: Science and Systems XIII
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The parameterized form of the controllers produced by EPC coupled with online uncertainty estimates ensures this robust constraint satisfaction property persists even as the system switches controllers ...
We validate the online performance and robust constraint satisfaction of the proposed Robust EPC algorithm through a series of experimental trials with a small quadrotor platform subjected to changes in ...
ACKNOWLEDGMENTS We gratefully acknowledge the support of ARL Grant W911NF-08-2-0004. ...
doi:10.15607/rss.2017.xiii.067
dblp:conf/rss/DesarajuSM17
fatcat:5deqjp6ffbczlgndokhr4r6mjq
Online robust tube-based MPC for time-varying systems: a practical approach
2011
International Journal of Control
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Acknowledgements This work has been funded by the National Plan Projects DPI nos. 2007-66718-C04-01 and DPI nos. 2010-21589-C05-04 of the Spanish Ministry of Science and Innovation and FEDER funds. ...
Conclusions This article presents an online robust tube-based predictive control law for constrained time-varying systems with additive uncertainties. ...
In the figure, the robust tube-based MPC with online reachable sets calculation is denoted as 'Online MPC', the offline robust tube-based MPC approach as 'Offline MPC', and the linear feedback controller ...
doi:10.1080/00207179.2011.594093
fatcat:mjlybxglazfjxi2alikcn5lqv4
Fast Zonotope-Tube-based LPV-MPC for Autonomous Vehicles
[article]
2020
arXiv
pre-print
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Moreover, a finite number of accurate reachable sets, also called tube, are computed online using zonotopes taking into account the system dynamics, the local controller and the diturbance-uncertainty ...
In this paper, we present an effective online tube-based model predictive control (T-MPC) solution for autonomous driving that aims at improving the computational load while ensuring robust stability and ...
dynamics
Type of system
LTI
LTI
LPV
Local control / Design
Linear
No info
Polytopic H ∞
Local control / Implement. ...
arXiv:2009.02248v1
fatcat:gfzd7eremzhcrfduuwgrf6q6tq
Adaptive Robust Model Predictive Control with Matched and Unmatched Uncertainty
[article]
2021
arXiv
pre-print
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We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive ...
In contrast to previous work in robust adaptive MPC, our approach allows us to take advantage of structure (i.e., the numerical predictions) in the a priori unknown dynamics learned online through function ...
The authors are with Stanford University, Stanford, CA. ...
arXiv:2104.08261v3
fatcat:xryhcaxbzjfsdim7ik7hcoam6a
Control strategies for improving ground vehicle stability: State-of-the-art review
2015
2015 10th Asian Control Conference (ASCC)
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In section V, a robust control method using fast terminal sliding mode control is discussed and ended with conclusion in section VI. ...
In formulation of vehicle dynamics behavior, a discrepancy always exists between the actual vehicle model and its mathematical model used for the controller design. ...
The MPC controller is formulated based on successive online linearization (linear time varying -LTV) of the nonlinear vehicle model in the discrete time domain. ...
doi:10.1109/ascc.2015.7244795
dblp:conf/ascc/MousavinejadZV15
fatcat:vppli4w5gnc77pteh3u2dn5kgy
Fast zonotope-tube-based LPV-MPC for autonomous vehicles
2021
IET Control Theory & Applications
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The file type is application/pdf.
Moreover, a finite number of accurate reachable sets, also called tube, are computed online using zonotopes taking into account the system dynamics, the local controller and the disturbance-uncertainty ...
In this study, the authors present an effective online tube-based model predictive control (T-MPC) solution for autonomous driving that aims at improving the computational load while ensuring robust stability ...
dynamics
complete
dynamics
type of system
LTI
LTI
LPV
local control /
design
linear
no info
polytopic H ∞
local control /
implement. ...
doi:10.1049/iet-cta.2020.0562
fatcat:tqtb4db7rjeudfuqyvsclpeyaq
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