High-Performance Small-Scale Solvers for Linear Model Predictive Control,Gianluca Frison, Hans Henrik Brandenborg Sørensen, Bernd Dammann, John Bagterp Jørgensen。本文讲了HPIPM的前身,HPMPC, 其实…
有限时间带约束的优化问题 有限时间带约束的优化问题,叫model predict control(MPC),或者也叫receding horizon control(RHC)。该优化问题形式如下: 对比原来的无限优化问题,这个优化问题的stage cost退化为N个,我们额外增加一个p(xt+N)来近似N步之后的stage cost也就是∑k=N∞q(xt+k,ut+k),同样的,状态量和控...
A linear model predictive control (LMPC) is developed to track specified flight trajectories, then implemented and validated in hardware flight tests. Detection and ranging of the target UAV from the pursuer UAV's onboard monocular camera is performed using the YOLO v2 convolutional neural network ...
https://www.zhihu.com/people/backfire-39-56 有限时间带约束的优化问题,叫model predict control(MPC),或者也叫receding horizon control(RHC)。
The labs reinforce principles of model development, estimation, and advanced control methods. This is the sixth exercise and it involves linear model predictive control with an empirical 2nd order model. The predictions were previously aligned to the measured values through an estimator. This model ...
This paper discusses the implementation of linear model predictive control techniques with open-loop unstable models. These models come from unstable plants and stable plants with conditionally stable disturbance models. The regulator is based on a quadratic performance criterion subject to input and state...
KGaA, Weinheim ISBN: 978-3-527-31692-2 4 1 Linear Model Predictive Control via Multiparametric Programming optimization breaks down to simple function evaluations, at regular time intervals, to compute the corresponding control actions for the given state of the plant. This is known as the online...
This paper studies symmetry in linear model predictive control (MPC). We define symmetry for model predictive control laws and for model predictive control problems. Properties of both MPC symmetries are studied by using a group theory formalism. We show how to efficiently compute MPC symmetries by...
predictivelinearmodelsmodelcontrol ProcessSystemsEnaineerinaModelPredictiveControlLinearModelsKennethRawlingsDept.ChemicalEngineering,UniversityAustin,Austin,TX78712articlediscussesexistinglinearmodelpredictivecontrolconceptsunifiedtheoreticalframeworkbasedstabilizing,infinitehorizon,linearquad-raticregulator.representunstablestablemulti...
Model predictive control is a form of control in which the current control action is obtained by solving on-line, at each sampling instant, a finite horizon optimal control problem, using the current state of the plant as the initial state; the optimization yields an optimal control sequence an...