A parallel algorithm for implicit model predictive control with barrier function

Baccari, Silvio; Iannelli, Luigi; Vasca, Francesco

doi:10.1109/cca.2012.6402342

Cited by 4 publications

(2 citation statements)

References 17 publications

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“…The investigation of stability and computation time is elaborated in some studies [186], [187]. A parallel MPC approach is investigated to reduce the computation time in [186].…”

Section: B21 Lti Modelsmentioning

confidence: 99%

“…This study is the application of the multiplexed MPC theory which was proposed in [188] that is based on the reduction of decision variables and optimization to some channels instead of all inputs at each time step. The other approach is proposed in [187] with weighted barrier function which provides a suboptimal solution of the minimization problem. The pitch dynamics of a Cessna Citation 500 aircraft subjected to input constraints (elevator angle, the derivative of elevator angle) and output constraints (pitch angle) is controlled with a high accuracy in a simulation environment.…”

Section: B21 Lti Modelsmentioning

confidence: 99%

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Design, modeling, and predictive control of aerial physical interaction towards proactive maintenance

Koçer¹

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Modern cities are dependent on basic services like water and sewer systems including tunnels, which are supported by a pervasive infrastructure. The structural condition of these places is prone to deterioration. To protect the integrity of such systems, regular inspection is required to detect the onset of damage and material failure. It is envisaged that several robotic systems may provide a solution for the inspection task. When the inspection is purely visual, cameras might provide the necessary functionality. However, subsurface inspection may require a different approach. It is explored that unmanned aerial vehicle (UAV) with contacting probes may be an option.Deploying a UAV to perform contact inspection can be a more demanding task. First, the inspection tool shifts the center of mass and moment of inertias. Second, the terminal velocity needs to be regulated for a soft contact. This phase necessitates the system to be working in faster cycles as compared to the free-flight regime. Last challenge, posed by the interaction tool, comes from the sliding phase on the surface because bouncing occurs while it moves. In addition, ceiling effect where variable rotor wake degrades the performance of tracking predefined trajectory, and an unknown surface that must be included in the control algorithm and interaction tool design.The available approaches can handle the UAV control while it flies in free-flight. However, the challenges associated with the interaction require the system to be more responsive, adaptive and resilient. Since the level of interaction requires a force bound, the system has to explicitly consider this limit. The system needs to maintain the contact in a certain force range to collect the data while not crashing the sensor at the top. The current state of the art considering constraints makes use of two individual models for interaction problems; free-flight and contact phase models that bring additional complexity. Moreover, nominal optimization-based approaches are considered in the UAV control for the physical interaction tasks, wherein the system is lacking the ability to take external forces, changing parameters and unmodelled dynamics into account.In this thesis, a predictive UAV control is proposed to investigate interactions during the contact phase operation in close proximities to the surroundings. The main contribution of this study lies in two aspects: modeling and control of the UAV interaction problem. As opposed to multi-model approaches, a modeling of the whole system is presented with a centralized algorithm in which free flight, target approach, interaction, and sliding have been included. Additionally, a constraint optimization-based algorithm is designed to identify the external forces coming from the interaction tool and environment. It has shown through experiments that the proposed approach is efficient in terms of the optimized performance and applicability. The external force information increases the model size but the efficient open-source solver is adapted to lever...

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“…The investigation of stability and computation time is elaborated in some studies [186], [187]. A parallel MPC approach is investigated to reduce the computation time in [186].…”

Section: B21 Lti Modelsmentioning

confidence: 99%

Section: B21 Lti Modelsmentioning

confidence: 99%

Design, modeling, and predictive control of aerial physical interaction towards proactive maintenance

Koçer¹

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Model Predictive Control for Luminous Flux Tracking in Light-Emitting Diodes

Baccari

Vasca

Tipaldi

et al. 2017

IEEE Trans. Contr. Syst. Technol.

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A new optimization-based approach for aircraft landing in the presence of windshear

Drąg

Styczeń

2017

Annals of Computer Science and Information Systems

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Abstract-In the article a new approach for aircraft landing with the presence of the windshear phenomena was presented. The differential-algebraic model with variability constraints was under considerations. To transform the optimal control problem into a nonlinear optimization task, a modified direct shooting method was used. Then, to solve the obtained largescale nonlinear optimization problem, a barrier method was applied. Moreover, in the proposed optimization-based approach, the variability constraints imposed on the state trajectory were considered directly.

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A parallel algorithm for implicit model predictive control with barrier function

Cited by 4 publications

References 17 publications

Design, modeling, and predictive control of aerial physical interaction towards proactive maintenance

Design, modeling, and predictive control of aerial physical interaction towards proactive maintenance

Model Predictive Control for Luminous Flux Tracking in Light-Emitting Diodes

A new optimization-based approach for aircraft landing in the presence of windshear

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