本文提出了一种基于遗传算法优化神经网络的自适应 LPV-MPC 控制器,用于实现自主驾驶。该控制器利用遗传算法优化神经网络,自适应地学习车辆的动力学模型,并基于 LPV-MPC 算法进行运动控制。仿真结果表明,该控制器具有较好的鲁棒性和自适应性,能够有效地控制车辆在不同工况下的运动。 🔗 参考文献 [1] 张明君,张化光...
模型预测控制(MPC)是LPV方法的一种实现方式,它允许控制器预测未来一段时间内系统的行为,并基于这些预测来生成最优控制输入。对于无人机,MPC可以预测未来几个时刻内的姿态、位置和速度,并生成使无人机沿预期轨迹飞行的最优控制指令。使用LPV方法的无人机模型预测控制器结合了精确的动态模型、考虑系统参数变化的能力...
基于MPC-LPV线性变参数(LPV)和模型预测MPC的UAV四旋翼无人机3D轨迹跟踪1.将线性变参数(LPV)和MPC方法应用于UAV中,实现UAV无人机3D轨迹跟踪。2.控制器外环由位置控制器(状态反馈线性化)、内环姿态控制器由(LPV-MPC) 组成,动态响应更快。3.有参考文献,代码有详细注释
The MPC is tuned to adequately coordinate the operation of the microgrid, aiming to optimally use its energetic resources, enlarge the renewable generation share and guarantee maximal efficiency and profit, despite the presence of faults (or even failures) in its subsystems. The quantification of ...
control (LPVMPC) is proposed to enhance the longitudinal vehicle speed control of a gas-engine vehicle, with potential application in autonomous vehicles. ... I Chang,T Karnjate - 《Sae Report》 被引量: 0发表: 2024年 Fast Zonotope-Tube-based LPV-MPC for Autonomous Vehicles In this paper,...
This article deals with the model predictive control (MPC) design problem for systems which are linearly dependent on a time-varying parameter. The main novelty is that, motivated by practical issues, the bounds on the rate of variation of the parameters are taken into account in the control ...
This paper proposes a new model predictive control (MPC) method for linear parameter varying (LPV) systems with bounded parameter variation subject to input constraints. We adopt closed-loop prediction and construct ellipsoidal sets to predict the future states with reasonable computer load. Then the...
http://users.isy.liu.se/johanl/y ... xamples.LPVMPCHenon http://pan.baidu.com/s/1ntmLl2L...
http://users.isy.liu.se/johanl/y ... xamples.LPVMPCHenon http://pan.baidu.com/s/1ntmLl2L...