我们将动态规划求解出的最大速度记为v_{max}(s),注意这和限速v_{lim}(s)是不同的概念。 控制目标 我们既然有了最大速度曲线,那我们何不就以这样的速度运行呢?首先,如果仅仅以速度最大作为优化目标,那这样做确实是最优解。但是列车不仅需要快速移动,还需要保证平稳运行,即列车的速度不能变化太快。 看这张...
model predictive control (MPC)power converterspulsewidth modulation (PWM)This paper presents a detailed description of finite control set model predictive control (FCS-MPC) applied to power converters. Several key aspects related to this methodology are, in depth, presented and...
predictivecontrol,optimalcontrol,asymptoticstability,nonlinearcontrolsystems.1.INTRODUCTIONTheterm“hybrid”hasgenerallybeenusedinthemodelpredictivecontrol(MPC)literaturetorefertosystemspossessingbothcontinuous-valuedanddiscrete-valuedstatesandinputs,aswellasdiscontinuitiesinthecon-trolalgorithmorright-handsideofthedynamic...
a尽管我家并不是非常富有,但是我们一家非常开心,幸福。 Although my family is not extremely rich, but our extremely happy, happy.[translate] aa model predictive control (MPC) strategy was proposed. 一个式样有预测性的控制(MPC)战略提议。[translate]...
本文记录Model Predictive Control of a Mobile Robot Using Linearization的思路,这篇文章应该是比较基础的使用MPC进行轨迹跟踪的论文了,公式部分也很清晰,使用的运动学模型很简单,适合作为tutorial来看。abs…
A two layer hierarchical framework for optimization, control, and scheduling of semi-conductor reentrant lines is proposed. In this framework, model predictive control (MPC) is used at the top layer for real-time optimization (RTO). This layer acts as an interface between long-term planning (mo...
167 Commits .idea doc examples pyMPC test_scripts .gitignore LICENSE.md README.md README_PI.md setup.py README MIT license pyMPC Linear Constrained Model Predictive Control (MPC) in Python: where Requirements pyMPC requires the following packages: ...
The term MPC consists of three words, that is Model Predictive Control, which explicitly and directly imply the MPC methodology. (1) Model: In the design of practical control systems, designers always expect to know more characteristics of the physical plant and to build up the dynamic model ...
Thus, the generalized predictive control (GPC) model was developed; its theoretical basis is more complete than DMC and MAC, and it could also solve the robustness problem to a certain extent. Most industrial processes are highly complex, involve large amounts of interference and are strongly ...
路径跟踪(Path Tracking):路径跟踪是指车辆在实际行驶过程中,根据预先规划好的路径进行控制,使车辆能够沿着设定的路径行驶。常见的路径跟踪算法包括基于模型的控制方法(如PID控制器)、模型预测控制(Model Predictive Control, MPC)等。 在这里插入图片描述 混合A* ...