Journal: Optimal Control Applications and Methodsv

Abbreviation

Optim. Control Appl. Methods

Publisher

Wiley

Journal Volumes

ISSN

0143-2087
1099-1514

Description

Filters

2015 - 20204
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Publications 1 - 4 of 4
  • Cooperative Distributed Model Predictive Control for Wind Farms
    Item type: Journal Article
    Spudić, Vedrana; Conte, Christian; Baotić, Mato; et al. (2015)
    Optimal Control Applications and Methodsv
  • Optimization-based autonomous racing of 1:43 scale RC cars
    Item type: Journal Article
    Liniger, Alexander; Domahidi, Alexander; Morari, Manfred (2015)
    Optimal Control Applications and Methodsv
  • Dominant speed factors of active set methods for fast MPC
    Item type: Journal Article
    Herceg, Martin; Morari, Manfred; Jones, Colin N. (2015)
    Optimal Control Applications and Methodsv
  • Learning-based parametrized model predictive control for trajectory tracking
    Item type: Journal Article
    Sferrazza, Carmelo; Muehlebach, Michael; D'Andrea, Raffaello (2020)
    Optimal Control Applications and Methodsv
    This article is concerned with the tracking of nonequilibrium motions with model predictive control (MPC). It proposes to parametrize input and state trajectories of a dynamic system with basis functions to alleviate the computational burden in MPC. As a result of the parametrization, an optimization problem with fewer variables is obtained, and the memory requirements for storing the reference trajectories are reduced. The article also discusses the generation of feasible reference trajectories that account for the system's dynamics, as well as input and state constraints. In order to cope with repeatable disturbances, which may stem from unmodeled dynamics for example, an iterative learning procedure is included. The approach relies on a Kalman filter that identifies the repeatable disturbances based on previous trials. These are then included in the system's model available to the model predictive controller, which compensates them in subsequent trials. The proposed approach is evaluated on a quadcopter, whose task is to balance a pole, while flying a predefined trajectory.
Publications 1 - 4 of 4