A model predictive interaction control (MPIC) scheme is introduced that deals both with the prediction of the robot motion and the forces between robot and environment. With regard to the robot motion, either the rigid body dynamics, a simplified model, or a cascaded control structure can be ...
Model predictive controlQuadrotorInteraction controlOne of the major challenges of automated systems is attributed to the interaction task. This process involves external forces which may be dangerous, for example in an unmanned aerial vehicle (UAV) that interacts with unknown environment. There are ...
Interaction-aware Model Predictive Control for Autonomous Driving,Renzi Wang,Mathijs Schuurmans,Panagiotis Patrinos。文章采用了逻辑回归评估目标车辆意图,然后在目标车辆意图的分差上根据contingency …
控制量是acceleration 和steering angle. β是横向侧偏角 β=arctan(lrlr+lrtanδ) 使用欧拉法来离散化运动学模型 zk+1=f(zk,uk). 其他车辆的行为 其他车辆的行为从一个有限数量的行为集合中产生, P(zt)=(P{ξt=i∣zt})i∈Ξ, 假设按照上面概率随机产生其他车辆的行为 使用传统方法不能离线估计。
, can capture dynamics and interaction effects. However, the model accuracy scales with the size of the Neural Network. Real-time Neural MPC enables the use of deep learning models many magnitudes more powerful and performant compared to what was previously feasible in Model Predictive Control."...
Model-Predictive Control (MPC) is advanced technology that optimizes the control and performance of business-critical production processes. So is Control Loop Performance Monitoring (CLPM) software. But if both help practitioners to optimize control loop
Interaction and Decision Making-aware Motion Planning using Branch Model Predictive Control,Rui Oliveira, Siddharth H. Nair, Bo Wahlber. 文章的基本思路是采用多模态的驾驶员决策模型推演环境的多种演化可能性,配合branch MPC, 采用树模型的方法进行纵向速度的规划。相比于robust MPC考虑所有可能性的规划结果显然...
摘要: This paper explores the interaction between model predictive control and optimization. The success of model predictive control in controlling constrained linear systems is due, in large part, to the f关键词:hydrodechlorination disproportionation palladium alumina aerogel xerogel AIF(3 carbiding CCl2...
A model predictive control based scheduling method for HIV therapy Recently developed models of the interaction of the human immune system and the human immunodeficiency virus (HIV) suggest the possibility of using interru... R Zurakowski,AR Teel - 《Journal of Theoretical Biology》 被引量: 230发...
invention relates to a model predictive control system that uses a statistical model and more particularly but not exclusively to such a system using a DOE-based statistical model for example in a manufacturing control system that uses empirical data as past of an automatic process control (APC) ...