Contributions To Event Triggered And Distributed Model Predictive Control

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Contributions to Event-triggered and Distributed Model Predictive Control

Author : Felix Berkel
Publisher : Logos Verlag Berlin
ISBN 13 : 9783832549350
Total Pages : 0 pages
Book Rating : 4.5/5 (493 download)

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Book Synopsis Contributions to Event-triggered and Distributed Model Predictive Control by : Felix Berkel

Download or read book Contributions to Event-triggered and Distributed Model Predictive Control written by Felix Berkel and published by Logos Verlag Berlin. This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis deals with event-triggered model predictive control (MPC) strategies for constrained networked and distributed control systems. A networked control system usually consists of spatially distributed sensors, actuators and controllers that communicate over a shared communication network. Event-triggered control approaches consider the network utilization in the controller design to provide a compromise between control performance and communication effort. In this thesis a holistic output-based MPC scheme for constrained linear systems with event-triggered communication over the sensor-to-controller and controller-to-actuator channels of a network is presented. The proposed approach can be applied to centralized as well as decentralized setups and handles bounded time-varying sampling intervals and transmission delays for the control of constrained sampled-data systems. In distributed control set-ups the overall plant is decomposed into subsystems which are controlled by local controllers. Different distributed model predictive control (DMPC) approaches with reduced communication effort are presented in this thesis. The first approach is non-iterative and uses event-triggered communication for the exchange of state measurements. In the second approach, an event-triggered cooperation strategy for DMPC based on distributed optimization is introduced. Finally, an economic DMPC scheme for linear periodically time-varying systems which is motivated by two real-world applications, the control of a water distribution network and a medium voltage power grid, is presented.

Distributed Cooperative Model Predictive Control of Networked Systems

Author : Yuanyuan Zou
Publisher : Springer Nature
ISBN 13 : 9811960844
Total Pages : 159 pages
Book Rating : 4.8/5 (119 download)

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Book Synopsis Distributed Cooperative Model Predictive Control of Networked Systems by : Yuanyuan Zou

Download or read book Distributed Cooperative Model Predictive Control of Networked Systems written by Yuanyuan Zou and published by Springer Nature. This book was released on 2022-10-03 with total page 159 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is inspired by the development of distributed model predictive control of networked systems to save computation and communication sources. The significant new contribution is to show how to design efficient DMPCs that can be coordinated asynchronously with the increasing effectiveness of the event-triggering mechanism and how to improve the event-triggered DMPC for different requirements improvement of control performance, extension to interconnected networked systems, etc. The book is likely to be of interest to the persons who are engaged in researching control theory in academic institutes, the persons who go in for developing control systems in R&D institutes or companies, the control engineers who are engaged in the implementation of control algorithms, and people who are interested in the distributed MPC.

Distributed Model Predictive Control with Event-Based Communication

Author : Groß, Dominic
Publisher : kassel university press GmbH
ISBN 13 : 386219910X
Total Pages : 176 pages
Book Rating : 4.8/5 (621 download)

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Book Synopsis Distributed Model Predictive Control with Event-Based Communication by : Groß, Dominic

Download or read book Distributed Model Predictive Control with Event-Based Communication written by Groß, Dominic and published by kassel university press GmbH. This book was released on 2015-02-25 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, several algorithms for distributed model predictive control over digital communication networks with parallel computation are developed and analyzed. Distributed control aims at efficiently controlling large scale dynamical systems which consist of interconnected dynamical systems by means of communicating local controllers. Such distributed control problems arise in applications such as chemical processes, formation control, and control of power grids. In distributed model predictive control the underlying idea is to solve a large scale model predictive control problem in a distributed fashion in order to achieve faster computation and better robustness against local failures. Distributed model predictive control often heavily relies on frequent communication between the local model predictive controllers. However, a digital communication network may induce uncertainties such as a communication delays, especially if the load on the communication network is high. One topic of this thesis is to develop a distributed model predictive control algorithm for subsystems interconnected by constraints and common control goals which is robust with respect to time-varying communication delays.

A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration

Author : Min Wu
Publisher : Logos Verlag Berlin GmbH
ISBN 13 : 383255484X
Total Pages : 212 pages
Book Rating : 4.8/5 (325 download)

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Book Synopsis A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration by : Min Wu

Download or read book A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration written by Min Wu and published by Logos Verlag Berlin GmbH. This book was released on 2022-06-14 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, including their scope of application, accuracy in different time scales, and implementation complexity. Based on this study, a hybrid approach that combines physically well-understood models with data-driven learning techniques is proposed and validated through a motion data set. The second part addresses interaction control in human-robot collaboration. An adaptive impedance control scheme with human reference estimation is presented. Reinforcement learning is used to find optimal control parameters to minimize a task-orient cost function without fully knowing the system dynamic. The proposed framework is experimentally validated through two benchmark applications for human-robot collaboration: object handover and cooperative object handling. Results show that the robot can provide reliable online human motion prediction, react early to human motion variation, make proactive contributions to physical collaborations, and behave compliantly in response to human forces.

Modelling and Control of an Autonomous Two-Wheeled Vehicle

Author : Alen Turnwald
Publisher : Logos Verlag Berlin GmbH
ISBN 13 : 3832552057
Total Pages : 175 pages
Book Rating : 4.8/5 (325 download)

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Book Synopsis Modelling and Control of an Autonomous Two-Wheeled Vehicle by : Alen Turnwald

Download or read book Modelling and Control of an Autonomous Two-Wheeled Vehicle written by Alen Turnwald and published by Logos Verlag Berlin GmbH. This book was released on 2020-11-13 with total page 175 pages. Available in PDF, EPUB and Kindle. Book excerpt: With respect to the future urban mobility, modern electrical bicycles, advanced motorcycles and innovative two-wheeled vehicles are arresting enormous amount of attention. Especially, model-based control and optimal trajectory planning for such vehicles are important to the research and development of the future. Therefore, a reliable and yet usable vehicle model as well as a systematic approach to motion control for two-wheeled vehicles are essential, to which this work makes a contribution. Currently available two-wheeled vehicle models are mostly either too complex to be used for a systematic control synthesis, or too simple such that the physical behaviour of the vehicle is no more represented. In this thesis, a unifying approach to modelling and control for autonomous two-wheeled vehicles is presented. The resulting model is generally valid and physically detailed enough to represent the characteristic dynamical behaviour such as the self-stability. At the same time, it is suited to a systematic control synthesis. Furthermore, the systematic extenddability, for instance by a rider, is demonstrated. The model is validated by simulations and by comparison to well-known models from the literature. The proposed vehicle model is derived in the Lagrangian and Hamiltonian framework and used for model-based optimal trajectory planning. Furthermore, a passivity-based trajectory tracking controller is designed based on the resulting port-Hamiltonian system using the so-called generalised canonical transformations. Such a controller is physically interpretable and robust against parameter uncertainties. To this end, existing approaches of passivity-based controller design are extended and adjusted for two-wheeled vehicles. Finally, a prototype two-wheeled vehicle is introduced which is used for experimental validation of the model and to demonstrate motion control algorithms for autonomous two-wheeled vehicles.

Distributed Cooperative Control and Communication for Multi-agent Systems

Author : Dong Yue
Publisher : Springer Nature
ISBN 13 : 9813367180
Total Pages : 196 pages
Book Rating : 4.8/5 (133 download)

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Book Synopsis Distributed Cooperative Control and Communication for Multi-agent Systems by : Dong Yue

Download or read book Distributed Cooperative Control and Communication for Multi-agent Systems written by Dong Yue and published by Springer Nature. This book was released on 2021-02-15 with total page 196 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates distributed cooperative control and communication of MASs including linear systems, nonlinear systems and multiple rigid body systems. The model-based and data-driven control method are employed to design the (optimal) cooperative control protocol. The approaches of this book consist of model-based and data-driven control such as predictive control, event-triggered control, optimal control, adaptive dynamic programming, etc. From this book, readers can learn about distributed cooperative control methods, data-driven control, finite-time stability analysis, cooperative attitude control of multiple rigid bodies. Some fundamental knowledge prepared to read this book is finite-time stability theory, event-triggered sampling mechanism, adaptive dynamic programming and optimal control.

Contributions to Networked and Event-Triggered Control of Linear Systems

Author : María Guinaldo Losada
Publisher : Springer
ISBN 13 : 3319340816
Total Pages : 212 pages
Book Rating : 4.3/5 (193 download)

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Book Synopsis Contributions to Networked and Event-Triggered Control of Linear Systems by : María Guinaldo Losada

Download or read book Contributions to Networked and Event-Triggered Control of Linear Systems written by María Guinaldo Losada and published by Springer. This book was released on 2016-05-28 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on a set of new techniques for resolving current issues in networked control systems. The main focus is on strategies for event-based control, for both centralized and decentralized architectures. The first part of the book addresses the problem of single-loop networked control systems and proposes an anticipative remote controller for dealing with delays and packet losses. The second part of the book proposes a distributed event-based control strategy for networked dynamical systems, which has been implemented in a test-bed of mobile robots, and provides readers with a thorough description of an interactive simulator used to validate the results. This thesis, examined at the Universidad Nacional de Educación a Distancia in 2013, received the award for best thesis in control engineering from the Control Engineering group of the Spanish Committee of Automatic Control in 2015.

Advances in nonlinear systems and networks, volume II

Author : Fei Yu
Publisher : Frontiers Media SA
ISBN 13 : 2832545599
Total Pages : 131 pages
Book Rating : 4.8/5 (325 download)

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Book Synopsis Advances in nonlinear systems and networks, volume II by : Fei Yu

Download or read book Advances in nonlinear systems and networks, volume II written by Fei Yu and published by Frontiers Media SA. This book was released on 2024-03-04 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Multisensor Fusion Estimation Theory and Application

Author : Liping Yan
Publisher : Springer Nature
ISBN 13 : 9811594260
Total Pages : 229 pages
Book Rating : 4.8/5 (115 download)

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Book Synopsis Multisensor Fusion Estimation Theory and Application by : Liping Yan

Download or read book Multisensor Fusion Estimation Theory and Application written by Liping Yan and published by Springer Nature. This book was released on 2020-11-11 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the basic theory and methods of multisensor data fusion state estimation and its application. It consists of four parts with 12 chapters. In Part I, the basic framework and methods of multisensor optimal estimation and the basic concepts of Kalman filtering are briefly and systematically introduced. In Part II, the data fusion state estimation algorithms under networked environment are introduced. Part III consists of three chapters, in which the fusion estimation algorithms under event-triggered mechanisms are introduced. Part IV consists of two chapters, in which fusion estimation for systems with non-Gaussian but heavy-tailed noises are introduced. The book is primarily intended for researchers and engineers in the field of data fusion and state estimation. It also benefits for both graduate and undergraduate students who are interested in target tracking, navigation, networked control, etc.

Advanced Model Predictive Control for Autonomous Marine Vehicles

Author : Yang Shi
Publisher : Springer Nature
ISBN 13 : 3031193547
Total Pages : 210 pages
Book Rating : 4.0/5 (311 download)

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Book Synopsis Advanced Model Predictive Control for Autonomous Marine Vehicles by : Yang Shi

Download or read book Advanced Model Predictive Control for Autonomous Marine Vehicles written by Yang Shi and published by Springer Nature. This book was released on 2023-02-13 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.

Control of Cyber-Physical Systems

Author : Danielle C. Tarraf
Publisher : Springer
ISBN 13 : 3319011596
Total Pages : 380 pages
Book Rating : 4.3/5 (19 download)

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Book Synopsis Control of Cyber-Physical Systems by : Danielle C. Tarraf

Download or read book Control of Cyber-Physical Systems written by Danielle C. Tarraf and published by Springer. This book was released on 2013-06-30 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cyber-physical systems (CPS) involve deeply integrated, tightly coupled computational and physical components. These systems, spanning multiple scientific and technological domains, are highly complex and pose several fundamental challenges. They are also critically important to society’s advancement and security. The design and deployment of the adaptable, reliable CPS of tomorrow requires the development of a basic science foundation, synergistically drawing on various branches of engineering, mathematics, computer science, and domain specific knowledge. This book brings together 19 invited papers presented at the Workshop on Control of Cyber-Physical Systems, hosted by the Department of Electrical & Computer Engineering at The Johns Hopkins University in March 2013. It highlights the central role of control theory and systems thinking in developing the theory of CPS, in addressing the challenges of cyber-trust and cyber-security, and in advancing emerging cyber-physical applications ranging from smart grids to smart buildings, cars and robotic systems.

Model Predictive Control in the Process Industry

Author : Eduardo F. Camacho
Publisher : Springer Science & Business Media
ISBN 13 : 1447130081
Total Pages : 250 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Model Predictive Control in the Process Industry by : Eduardo F. Camacho

Download or read book Model Predictive Control in the Process Industry written by Eduardo F. Camacho and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 250 pages. Available in PDF, EPUB and Kindle. Book excerpt: Model Predictive Control is an important technique used in the process control industries. It has developed considerably in the last few years, because it is the most general way of posing the process control problem in the time domain. The Model Predictive Control formulation integrates optimal control, stochastic control, control of processes with dead time, multivariable control and future references. The finite control horizon makes it possible to handle constraints and non linear processes in general which are frequently found in industry. Focusing on implementation issues for Model Predictive Controllers in industry, it fills the gap between the empirical way practitioners use control algorithms and the sometimes abstractly formulated techniques developed by researchers. The text is firmly based on material from lectures given to senior undergraduate and graduate students and articles written by the authors.

Cloud Control Systems

Author : Magdi S. Mahmoud
Publisher : Academic Press
ISBN 13 : 0128187026
Total Pages : 508 pages
Book Rating : 4.1/5 (281 download)

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Book Synopsis Cloud Control Systems by : Magdi S. Mahmoud

Download or read book Cloud Control Systems written by Magdi S. Mahmoud and published by Academic Press. This book was released on 2020-01-14 with total page 508 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cloud Control Systems: Analysis, Design and Estimation introduces readers to the basic definitions and various new developments in the growing field of cloud control systems (CCS). The book begins with an overview of cloud control systems (CCS) fundamentals, which will help beginners to better understand the depth and scope of the field. It then discusses current techniques and developments in CCS, including event-triggered cloud control, predictive cloud control, fault-tolerant and diagnosis cloud control, cloud estimation methods, and secure control/estimation under cyberattacks. This book benefits all researchers including professors, postgraduate students and engineers who are interested in modern control theory, robust control, multi-agents control. Offers insights into the innovative application of cloud computing principles to control and automation systems Provides an overview of cloud control systems (CCS) fundamentals and introduces current techniques and developments in CCS Investigates distributed denial of service attacks, false data injection attacks, resilient design under cyberattacks, and safety assurance under stealthy cyberattacks

Advanced cooperative control and optimization strategies for integrated energy systems

Author : Rui Wang
Publisher : Frontiers Media SA
ISBN 13 : 2832515223
Total Pages : 203 pages
Book Rating : 4.8/5 (325 download)

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Book Synopsis Advanced cooperative control and optimization strategies for integrated energy systems by : Rui Wang

Download or read book Advanced cooperative control and optimization strategies for integrated energy systems written by Rui Wang and published by Frontiers Media SA. This book was released on 2023-02-24 with total page 203 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Event-Based Control and Signal Processing

Author : Marek Miskowicz
Publisher : CRC Press
ISBN 13 : 1482256568
Total Pages : 558 pages
Book Rating : 4.4/5 (822 download)

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Book Synopsis Event-Based Control and Signal Processing by : Marek Miskowicz

Download or read book Event-Based Control and Signal Processing written by Marek Miskowicz and published by CRC Press. This book was released on 2018-09-03 with total page 558 pages. Available in PDF, EPUB and Kindle. Book excerpt: Event-based systems are a class of reactive systems deployed in a wide spectrum of engineering disciplines including control, communication, signal processing, and electronic instrumentation. Activities in event-based systems are triggered in response to events usually representing a significant change of the state of controlled or monitored physical variables. Event-based systems adopt a model of calls for resources only if it is necessary, and therefore, they are characterized by efficient utilization of communication bandwidth, computation capability, and energy budget. Currently, the economical use of constrained technical resources is a critical issue in various application domains because many systems become increasingly networked, wireless, and spatially distributed. Event-Based Control and Signal Processing examines the event-based paradigm in control, communication, and signal processing, with a focus on implementation in networked sensor and control systems. Featuring 23 chapters contributed by more than 60 leading researchers from around the world, this book covers: Methods of analysis and design of event-based control and signal processing Event-driven control and optimization of hybrid systems Decentralized event-triggered control Periodic event-triggered control Model-based event-triggered control and event-triggered generalized predictive control Event-based intermittent control in man and machine Event-based PID controllers Event-based state estimation Self-triggered and team-triggered control Event-triggered and time-triggered real-time architectures for embedded systems Event-based continuous-time signal acquisition and DSP Statistical event-based signal processing in distributed detection and estimation Asynchronous spike event coding technique with address event representation Event-based processing of non-stationary signals Event-based digital (FIR and IIR) filters Event-based local bandwidth estimation and signal reconstruction Event-Based Control and Signal Processing is the first extensive study on both event-based control and event-based signal processing, presenting scientific contributions at the cutting edge of modern science and engineering.

Advances in Guidance, Navigation and Control

Author : Liang Yan
Publisher : Springer Nature
ISBN 13 : 981158155X
Total Pages : 5416 pages
Book Rating : 4.8/5 (115 download)

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Book Synopsis Advances in Guidance, Navigation and Control by : Liang Yan

Download or read book Advances in Guidance, Navigation and Control written by Liang Yan and published by Springer Nature. This book was released on 2021-11-12 with total page 5416 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircraft. It covers a range of topics, including, but not limited to, intelligent computing communication and control; new methods of navigation, estimation, and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation, and control of miniature aircraft; and sensor systems for guidance, navigation, and control. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.

Soft Computing Applications

Author : Valentina Emilia Balas
Publisher : Springer
ISBN 13 : 3319625217
Total Pages : 559 pages
Book Rating : 4.3/5 (196 download)

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Book Synopsis Soft Computing Applications by : Valentina Emilia Balas

Download or read book Soft Computing Applications written by Valentina Emilia Balas and published by Springer. This book was released on 2017-08-31 with total page 559 pages. Available in PDF, EPUB and Kindle. Book excerpt: These two volumes constitute the Proceedings of the 7th International Workshop on Soft Computing Applications (SOFA 2016), held on 24–26 August 2016 in Arad, Romania. This edition was organized by Aurel Vlaicu University of Arad, Romania, University of Belgrade, Serbia, in conjunction with the Institute of Computer Science, Iasi Branch of the Romanian Academy, IEEE Romanian Section, Romanian Society of Control Engineering and Technical Informatics (SRAIT) - Arad Section, General Association of Engineers in Romania - Arad Section, and BTM Resources Arad. The soft computing concept was introduced by Lotfi Zadeh in 1991 and serves to highli ght the emergence of computing methodologies in which the accent is on exploiting the tolerance for imprecision and uncertainty to achieve tractability, robustness and lower costs. Soft computing facilitates the combined use of fuzzy logic, neurocomputing, evolutionary computing and probabilistic computing, leading to the concept of hybrid intelligent systems. The rapid emergence of new tools and applications calls for a synergy of scientific and technological disciplines in order to reveal the great potential of soft computing in all domains. The conference papers included in these proceedings, published post-conference, were grouped into the following areas of research: • Methods and Applications in Electrical Engineering • Knowledge-Based Technologies for Web Applications, Cloud Computing, Security Algorithms and Computer Networks • Biomedical Applications • Image, Text and Signal Processing • Machine Learning and Applications • &nb sp; Business Process Management • Fuzzy Applications, Theory and Fuzzy Control • Computational Intelligence in Education • Soft Computing & Fuzzy Logic i n Biometrics (SCFLB) • Soft Computing Algorithms Applied in Economy, Industry and Communication Technology • Modelling and Applications in Textiles The book helps to disseminate advances in selected active research directions in the field of soft computing, along with current issues and applications of related topics. As such, it provides valuable information for professors, researchers and graduate students in the area of soft computing techniques and applications.