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Online Robust Control of Linear Dynamical Systems with Prediction [article]

Deepan Muthirayan, Dileep Kalathil, Pramod P. Khargonekar
2021
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

Ajay Gautam
2020 INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY  
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

Giovanni Cherubini, Martin Guay, Sophie Tarbouriech, Kartik Ariyur, Mireille E. Broucke, Subhrakanti Dey, Christian Ebenbauer, Paolo Frasca, Bahman Gharesifard, Antoine Girard, Joao Manoel Gomes da Silva, Lars Grune (+5 others)
2020 IEEE Control Systems Letters  
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

Anilkumar Parsi, Andrea Iannelli, Mingzhou Yin, Mohammad Khosravi, Roy S. Smith
2020 IFAC-PapersOnLine  
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

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  ...  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

Manel Taktak Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel
2014 International Journal of Systems Control and Communications  
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

Wei-Qiang Tang, Yuan-Li Cai
2012 Journal of Guidance Control and Dynamics  
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

Longge Zhang
2013 Abstract and Applied Analysis  
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

Gang Tao, Tansel Yucelen
2021 International Journal of Adaptive Control and Signal Processing  
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

Vishnu Desaraju, Alexander Spitzer, Nathan Michael
2017 Robotics: Science and Systems XIII  
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

R. Gonzalez, M. Fiacchini, T. Alamo, J.L. Guzman, F. Rodriguez
2011 International Journal of Control  
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]

Eugenio Alcala, Vicenc Puig, Joseba Quevedo, Olivier Sename
2020 arXiv   pre-print
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]

Rohan Sinha, James Harrison, Spencer M. Richards, Marco Pavone
2021 arXiv   pre-print
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

Iman Eman Mousavinejad, Yong Zhu, Ljubo Vlacic
2015 2015 10th Asian Control Conference (ASCC)  
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

Eugenio Alcalá, Vicenç Puig, Joseba Quevedo, Olivier Sename
2021 IET Control Theory & Applications  
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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