相关论文: Nonlinear Equivalent Resistance-based Maximum Powe…

This paper presents an extension to the nonlinear Model Predictive Control for Tracking scheme able to guarantee convergence even in cases of non-convex output admissible sets. This is achieved by incorporating a convexifying homeomorphism…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of…

The powertrain of battery electric vehicles can be optimized to maximize the travel distance for a given amount of stored energy in the traction battery. To achieve this, a combined control and design problem has to be solved which results…

Computing the receding horizon optimal control of nonlinear hybrid systems is typically prohibitively slow, limiting real-time implementation. To address this challenge, we propose a layered Model Predictive Control (MPC) architecture for…

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based motion planning typically requires low computation times to…

This paper presents an integrated path planning and tracking control of marine hydrokinetic energy harvesting devices. To address the highly nonlinear and uncertain oceanic environment, the path planner is designed based on a reinforcement…

The Model Predictive Control (MPC) scheme Funnel MPC enables output tracking of smooth reference signals with prescribed error bounds for nonlinear multi-input multi-output systems with stable internal dynamics. Earlier works achieved the…

We present a nonlinear model predictive control (MPC) scheme for tracking of dynamic target signals. The scheme combines stabilization and dynamic trajectory planning in one layer, thus ensuring constraint satisfaction irrespective of…

Modeling error or external disturbances can severely degrade the performance of Model Predictive Control (MPC) in real-world scenarios. Robust MPC (RMPC) addresses this limitation by optimizing over feedback policies but at the expense of…

Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing constraints is achieved by limiting the number of…

This paper presents a model predictive control (MPC)-based online real-time adaptive control scheme for emergency voltage control in power systems. Despite tremendous success in various applications, real-time implementation of MPC for…

Power system voltage regulation is crucial to maintain power quality while integrating intermittent renewable resources in distribution grids. However, the system model on the grid edge is often unknown, making it difficult to model…

Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model…

We propose a nonlinear model predictive control (NMPC) framework based on a direct optimal control method that ensures continuous-time constraint satisfaction and accurate evaluation of the running cost, without compromising computational…

This letter analyzes the contraction property of the nonlinear systems controlled by suboptimal model predictive control (MPC) using the continuation method. We propose a contraction metric that reflects the hierarchical dynamics inherent…

In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…

In Concentrated Solar Power (CSP) plants based on Parabolic Trough Collectors (PTC), the Sun is tracked at discrete time intervals, with each interval representing a movement of the collector system. The act of moving heavy mechanical…

This paper addresses the offset-free tracking problem for nonlinear systems described by a class of recurrent neural networks (RNNs). To compensate for constant disturbances and guarantee offset-free tracking in the presence of model-plant…

Most passivity based trajectory tracking algorithms for mechanical systems can only stabilise reference trajectories that have constant energy. This paper overcomes this limitation by deriving a single variable Hamiltonian model for the…