Robust Receding Horizon Control For Networked And Distributed Nonlinear Systems

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Robust Receding Horizon Control for Networked and Distributed Nonlinear Systems

Huiping Li,Yang Shi
Robust Receding Horizon Control for Networked and Distributed Nonlinear Systems Book PDF

Author : Huiping Li,Yang Shi
Publisher : Springer
Page : 184 pages
File Size : 50,5 Mb
Release : 2016-10-22
Category : Technology & Engineering
ISBN : 9783319482903

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Robust Receding Horizon Control for Networked and Distributed Nonlinear Systems by Huiping Li,Yang Shi Pdf

This book offers a comprehensive, easy-to-understand overview of receding-horizon control for nonlinear networks. It presents novel general strategies that can simultaneously handle general nonlinear dynamics, system constraints, and disturbances arising in networked and large-scale systems and which can be widely applied. These receding-horizon-control-based strategies can achieve sub-optimal control performance while ensuring closed-loop stability: a feature attractive to engineers. The authors address the problems of networked and distributed control step-by-step, gradually increasing the level of challenge presented. The book first introduces the state-feedback control problems of nonlinear networked systems and then studies output feedback control problems. For large-scale nonlinear systems, disturbance is considered first, then communication delay separately, and lastly the simultaneous combination of delays and disturbances. Each chapter of this easy-to-follow book not only proposes and analyzes novel control algorithms and/or strategies, but also rigorously develops provably correct design conditions. It also provides concise, illustrative examples to demonstrate the implementation procedure, making it invaluable both for academic researchers and engineering practitioners.

Distributed Cooperative Model Predictive Control of Networked Systems

Yuanyuan Zou,Shaoyuan Li
Distributed Cooperative Model Predictive Control of Networked Systems Book PDF

Author : Yuanyuan Zou,Shaoyuan Li
Publisher : Springer Nature
Page : 159 pages
File Size : 42,5 Mb
Release : 2022-10-03
Category : Technology & Engineering
ISBN : 9789811960840

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Distributed Cooperative Model Predictive Control of Networked Systems by Yuanyuan Zou,Shaoyuan Li Pdf

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.

Advanced Model Predictive Control for Autonomous Marine Vehicles

Yang Shi,Chao Shen,Henglai Wei,Kunwu Zhang
Advanced Model Predictive Control for Autonomous Marine Vehicles Book PDF

Author : Yang Shi,Chao Shen,Henglai Wei,Kunwu Zhang
Publisher : Springer Nature
Page : 210 pages
File Size : 47,5 Mb
Release : 2023-02-13
Category : Technology & Engineering
ISBN : 9783031193545

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Advanced Model Predictive Control for Autonomous Marine Vehicles by Yang Shi,Chao Shen,Henglai Wei,Kunwu Zhang Pdf

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.

Networked and Distributed Predictive Control

Panagiotis D. Christofides,Jinfeng Liu,David Muñoz de la Peña
Networked and Distributed Predictive Control Book PDF

Author : Panagiotis D. Christofides,Jinfeng Liu,David Muñoz de la Peña
Publisher : Springer Science & Business Media
Page : 253 pages
File Size : 47,6 Mb
Release : 2011-04-07
Category : Technology & Engineering
ISBN : 9780857295828

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Networked and Distributed Predictive Control by Panagiotis D. Christofides,Jinfeng Liu,David Muñoz de la Peña Pdf

Networked and Distributed Predictive Control presents rigorous, yet practical, methods for the design of networked and distributed predictive control systems – the first book to do so. The design of model predictive control systems using Lyapunov-based techniques accounting for the influence of asynchronous and delayed measurements is followed by a treatment of networked control architecture development. This shows how networked control can augment dedicated control systems in a natural way and takes advantage of additional, potentially asynchronous and delayed measurements to maintain closed loop stability and significantly to improve closed-loop performance. The text then shifts focus to the design of distributed predictive control systems that cooperate efficiently in computing optimal manipulated input trajectories that achieve desired stability, performance and robustness specifications but spend a fraction of the time required by centralized control systems. Key features of this book include: • new techniques for networked and distributed control system design; • insight into issues associated with networked and distributed predictive control and their solution; • detailed appraisal of industrial relevance using computer simulation of nonlinear chemical process networks and wind- and solar-energy-generation systems; and • integrated exposition of novel research topics and rich resource of references to significant recent work. A full understanding of Networked and Distributed Predictive Control requires a basic knowledge of differential equations, linear and nonlinear control theory and optimization methods and the book is intended for academic researchers and graduate students studying control and for process control engineers. The constant attention to practical matters associated with implementation of the theory discussed will help each of these groups understand the application of the book’s methods in greater depth.

Nonlinear Control and Filtering for Stochastic Networked Systems

Lifeng Ma,Zidong Wang,Yuming Bo
Nonlinear Control and Filtering for Stochastic Networked Systems Book PDF

Author : Lifeng Ma,Zidong Wang,Yuming Bo
Publisher : CRC Press
Page : 180 pages
File Size : 54,6 Mb
Release : 2018-12-07
Category : Technology & Engineering
ISBN : 9780429761928

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Nonlinear Control and Filtering for Stochastic Networked Systems by Lifeng Ma,Zidong Wang,Yuming Bo Pdf

In this book, control and filtering problems for several classes of stochastic networked systems are discussed. In each chapter, the stability, robustness, reliability, consensus performance, and/or disturbance attenuation levels are investigated within a unified theoretical framework. The aim is to derive the sufficient conditions such that the resulting systems achieve the prescribed design requirements despite all the network-induced phenomena. Further, novel notions such as randomly occurring sensor failures and consensus in probability are discussed. Finally, the theories/techniques developed are applied to emerging research areas. Key Features Unifies existing and emerging concepts concerning stochastic control/filtering and distributed control/filtering with an emphasis on a variety of network-induced complexities Includes concepts like randomly occurring sensor failures and consensus in probability (with respect to time-varying stochastic multi-agent systems) Exploits the recursive linear matrix inequality approach, completing the square method, Hamilton-Jacobi inequality approach, and parameter-dependent matrix inequality approach to handle the emerging mathematical/computational challenges Captures recent advances of theories, techniques, and applications of stochastic control as well as filtering from an engineering-oriented perspective Gives simulation examples in each chapter to reflect the engineering practice

Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes

Mazen Alamir
Stabilization of Nonlinear Systems Using Receding horizon Control Schemes Book PDF

Author : Mazen Alamir
Publisher : Springer
Page : 308 pages
File Size : 54,5 Mb
Release : 2006-09-29
Category : Technology & Engineering
ISBN : 9781846284717

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Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes by Mazen Alamir Pdf

While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of relatively fast systems. This book presents a successful approach to this problem based on a co-operation between structural considerations and on-line optimization. It also provides research showing how generic predictive control schemes can be extended from slow process-based systems to a variety of fast systems.

Neural Approximations for Optimal Control and Decision

Riccardo Zoppoli,Marcello Sanguineti,Giorgio Gnecco,Thomas Parisini
Neural Approximations for Optimal Control and Decision Book PDF

Author : Riccardo Zoppoli,Marcello Sanguineti,Giorgio Gnecco,Thomas Parisini
Publisher : Springer Nature
Page : 532 pages
File Size : 52,6 Mb
Release : 2019-12-17
Category : Technology & Engineering
ISBN : 9783030296933

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Neural Approximations for Optimal Control and Decision by Riccardo Zoppoli,Marcello Sanguineti,Giorgio Gnecco,Thomas Parisini Pdf

Neural Approximations for Optimal Control and Decision provides a comprehensive methodology for the approximate solution of functional optimization problems using neural networks and other nonlinear approximators where the use of traditional optimal control tools is prohibited by complicating factors like non-Gaussian noise, strong nonlinearities, large dimension of state and control vectors, etc. Features of the text include: • a general functional optimization framework; • thorough illustration of recent theoretical insights into the approximate solutions of complex functional optimization problems; • comparison of classical and neural-network based methods of approximate solution; • bounds to the errors of approximate solutions; • solution algorithms for optimal control and decision in deterministic or stochastic environments with perfect or imperfect state measurements over a finite or infinite time horizon and with one decision maker or several; • applications of current interest: routing in communications networks, traffic control, water resource management, etc.; and • numerous, numerically detailed examples. The authors’ diverse backgrounds in systems and control theory, approximation theory, machine learning, and operations research lend the book a range of expertise and subject matter appealing to academics and graduate students in any of those disciplines together with computer science and other areas of engineering.

Complex Systems

Georgi M. Dimirovski
Complex Systems Book PDF

Author : Georgi M. Dimirovski
Publisher : Springer
Page : 652 pages
File Size : 50,7 Mb
Release : 2016-05-19
Category : Technology & Engineering
ISBN : 9783319288604

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Complex Systems by Georgi M. Dimirovski Pdf

This book gives a wide-ranging description of the many facets of complex dynamic networks and systems within an infrastructure provided by integrated control and supervision: envisioning, design, experimental exploration, and implementation. The theoretical contributions and the case studies presented can reach control goals beyond those of stabilization and output regulation or even of adaptive control. Reporting on work of the Control of Complex Systems (COSY) research program, Complex Systems follows from and expands upon an earlier collection: Control of Complex Systems by introducing novel theoretical techniques for hard-to-control networks and systems. The major common feature of all the superficially diverse contributions encompassed by this book is that of spotting and exploiting possible areas of mutual reinforcement between control, computing and communications. These help readers to achieve not only robust stable plant system operation but also properties such as collective adaptivity, integrity and survivability at the same time retaining desired performance quality. Applications in the individual chapters are drawn from: • the general implementation of model-based diagnosis and systems engineering in medical technology, in communication, and in power and airport networks; • the creation of biologically inspired control brains and safety-critical human–machine systems, • process-industrial uses; • biped robots; • large space structures and unmanned aerial vehicles; and • precision servomechanisms and other advanced technologies. Complex Systems provides researchers from engineering, applied mathematics and computer science backgrounds with innovative theoretical and practical insights into the state-of-the-art of complex networks and systems research. It employs physical implementations and extensive computer simulations. Graduate students specializing in complex-systems research will also learn much from this collection./pp

Delays and Networked Control Systems

Alexandre Seuret,Laurentiu Hetel,Jamal Daafouz,Karl H. Johansson
Delays and Networked Control Systems Book PDF

Author : Alexandre Seuret,Laurentiu Hetel,Jamal Daafouz,Karl H. Johansson
Publisher : Springer
Page : 272 pages
File Size : 45,7 Mb
Release : 2016-06-07
Category : Technology & Engineering
ISBN : 9783319323725

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Delays and Networked Control Systems by Alexandre Seuret,Laurentiu Hetel,Jamal Daafouz,Karl H. Johansson Pdf

This edited monograph includes state-of-the-art contributions on continuous time dynamical networks with delays. The book is divided into four parts. The first part presents tools and methods for the analysis of time-delay systems with a particular attention on control problems of large scale or infinite-dimensional systems with delays. The second part of the book is dedicated to the use of time-delay models for the analysis and design of Networked Control Systems. The third part of the book focuses on the analysis and design of systems with asynchronous sampling intervals which occur in Networked Control Systems. The last part of the book exposes several contributions dealing with the design of cooperative control and observation laws for networked control systems. The target audience primarily comprises researchers and experts in the field of control theory, but the book may also be beneficial for graduate students.

Developments in Model-Based Optimization and Control

Sorin Olaru,Alexandra Grancharova,Fernando Lobo Pereira
Developments in Model Based Optimization and Control Book PDF

Author : Sorin Olaru,Alexandra Grancharova,Fernando Lobo Pereira
Publisher : Springer
Page : 381 pages
File Size : 49,9 Mb
Release : 2015-12-23
Category : Technology & Engineering
ISBN : 9783319266879

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Developments in Model-Based Optimization and Control by Sorin Olaru,Alexandra Grancharova,Fernando Lobo Pereira Pdf

This book deals with optimization methods as tools for decision making and control in the presence of model uncertainty. It is oriented to the use of these tools in engineering, specifically in automatic control design with all its components: analysis of dynamical systems, identification problems, and feedback control design. Developments in Model-Based Optimization and Control takes advantage of optimization-based formulations for such classical feedback design objectives as stability, performance and feasibility, afforded by the established body of results and methodologies constituting optimal control theory. It makes particular use of the popular formulation known as predictive control or receding-horizon optimization. The individual contributions in this volume are wide-ranging in subject matter but coordinated within a five-part structure covering material on: · complexity and structure in model predictive control (MPC); · collaborative MPC; · distributed MPC; · optimization-based analysis and design; and · applications to bioprocesses, multivehicle systems or energy management. The various contributions cover a subject spectrum including inverse optimality and more modern decentralized and cooperative formulations of receding-horizon optimal control. Readers will find fourteen chapters dedicated to optimization-based tools for robustness analysis, and decision-making in relation to feedback mechanisms—fault detection, for example—and three chapters putting forward applications where the model-based optimization brings a novel perspective. Developments in Model-Based Optimization and Control is a selection of contributions expanded and updated from the Optimisation-based Control and Estimation workshops held in November 2013 and November 2014. It forms a useful resource for academic researchers and graduate students interested in the state of the art in predictive control. Control engineers working in model-based optimization and control, particularly in its bioprocess applications will also find this collection instructive.

Asynchronous Control for Networked Systems

María Guinaldo Losada,Francisco Rodríguez Rubio,Sebastián Dormido Bencomo
Asynchronous Control for Networked Systems Book PDF

Author : María Guinaldo Losada,Francisco Rodríguez Rubio,Sebastián Dormido Bencomo
Publisher : Springer
Page : 339 pages
File Size : 54,8 Mb
Release : 2015-09-08
Category : Technology & Engineering
ISBN : 9783319212999

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Asynchronous Control for Networked Systems by María Guinaldo Losada,Francisco Rodríguez Rubio,Sebastián Dormido Bencomo Pdf

This book sheds light on networked control systems; it describes different techniques for asynchronous control, moving away from the periodic actions of classical control, replacing them with state-based decisions and reducing the frequency with which communication between subsystems is required. The text focuses specially on event-based control. Split into two parts, Asynchronous Control for Networked Systems begins by addressing the problems of single-loop networked control systems, laying out various solutions which include two alternative model-based control schemes (anticipatory and predictive) and the use of H2/H∞ robust control to deal with network delays and packet losses. Results on self-triggering and send-on-delta sampling are presented to reduce the need for feedback in the loop. In Part II, the authors present solutions for distributed estimation and control. They deal first with reliable networks and then extend their results to scenarios in which delays and packet losses may occur. The novel results presented in Asynchronous Control for Networked Systems are transmitted in a concise and clear style supported by simulation and experimental examples. Some applications are also provided. Academic researchers and graduate students investigating control theory, control engineering and computer communications systems can use this monograph to learn how asynchronous control helps tackle the problems of networked systems in centralized and distributed schemes. Control practitioners at work in power systems, vehicle coordination and traffic networks will also find this book helpful in improving the performance of their systems.

A Quadratic Constraint Approach to Model Predictive Control of Interconnected Systems

Anthony Tri Tran C.,Quang Ha
A Quadratic Constraint Approach to Model Predictive Control of Interconnected Systems Book PDF

Author : Anthony Tri Tran C.,Quang Ha
Publisher : Springer
Page : 236 pages
File Size : 54,5 Mb
Release : 2018-03-06
Category : Technology & Engineering
ISBN : 9789811084096

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A Quadratic Constraint Approach to Model Predictive Control of Interconnected Systems by Anthony Tri Tran C.,Quang Ha Pdf

This book focuses on the stabilization and model predictive control of interconnected systems with mixed connection configurations. It introduces the concept of dissipation-based quadratic constraint for developing attractivity assurance methods for interconnected systems. In order to develop these methods, distributed and decentralized architectures are employed, whereby the communication between subsystems is fully connected, partially connected, or completely disconnected. Given that the control inputs are entirely or partially decoupled between subsystems and no additional constraints are imposed on the interactive variables beyond the coupling constraint itself, the proposed approaches can be used with various types of systems and applications. Further, the book describes how the effects of coupling delays and data losses in device networks are resolved. From a practical perspective, the innovations presented are of benefit in applications in a broad range of fields, including the process and manufacturing industries, networked robotics, and network-centric systems such as chemical process systems, power systems, telecommunication networks, transportation networks, and, no less importantly, supply chain automation.

Distributed Model Predictive Control with Event-Based Communication

Groß, Dominic
Distributed Model Predictive Control with Event Based Communication Book PDF

Author : Groß, Dominic
Publisher : kassel university press GmbH
Page : 176 pages
File Size : 40,6 Mb
Release : 2015-02-25
Category : Electronic
ISBN : 9783862199105

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Distributed Model Predictive Control with Event-Based Communication by Groß, Dominic Pdf

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.

Learning-based Model Predictive Control with closed-loop guarantees

Raffaele Soloperto
Learning based Model Predictive Control with closed loop guarantees Book PDF

Author : Raffaele Soloperto
Publisher : Logos Verlag Berlin GmbH
Page : 172 pages
File Size : 50,6 Mb
Release : 2023-11-13
Category : Electronic
ISBN : 9783832557447

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Learning-based Model Predictive Control with closed-loop guarantees by Raffaele Soloperto Pdf

The performance of model predictive control (MPC) largely depends on the accuracy of the prediction model and of the constraints the system is subject to. However, obtaining an accurate knowledge of these elements might be expensive in terms of money and resources, if at all possible. In this thesis, we develop novel learning-based MPC frameworks that actively incentivize learning of the underlying system dynamics and of the constraints, while ensuring recursive feasibility, constraint satisfaction, and performance bounds for the closed-loop. In the first part, we focus on the case of inaccurate models, and analyze learning-based MPC schemes that include, in addition to the primary cost, a learning cost that aims at generating informative data by inducing excitation in the system. In particular, we first propose a nonlinear MPC framework that ensures desired performance bounds for the resulting closed-loop, and then we focus on linear systems subject to uncertain parameters and noisy output measurements. In order to ensure that the desired learning phase occurs in closed-loop operations, we then propose an MPC framework that is able to guarantee closed-loop learning of the controlled system. In the last part of the thesis, we investigate the scenario where the system is known but evolves in a partially unknown environment. In such a setup, we focus on a learning-based MPC scheme that incentivizes safe exploration if and only if this might yield to a performance improvement.

Distributed Model Predictive Control Made Easy

José M. Maestre,Rudy R. Negenborn
Distributed Model Predictive Control Made Easy Book PDF

Author : José M. Maestre,Rudy R. Negenborn
Publisher : Springer Science & Business Media
Page : 601 pages
File Size : 49,9 Mb
Release : 2013-11-10
Category : Technology & Engineering
ISBN : 9789400770065

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Distributed Model Predictive Control Made Easy by José M. Maestre,Rudy R. Negenborn Pdf

The rapid evolution of computer science, communication, and information technology has enabled the application of control techniques to systems beyond the possibilities of control theory just a decade ago. Critical infrastructures such as electricity, water, traffic and intermodal transport networks are now in the scope of control engineers. The sheer size of such large-scale systems requires the adoption of advanced distributed control approaches. Distributed model predictive control (MPC) is one of the promising control methodologies for control of such systems. This book provides a state-of-the-art overview of distributed MPC approaches, while at the same time making clear directions of research that deserve more attention. The core and rationale of 35 approaches are carefully explained. Moreover, detailed step-by-step algorithmic descriptions of each approach are provided. These features make the book a comprehensive guide both for those seeking an introduction to distributed MPC as well as for those who want to gain a deeper insight in the wide range of distributed MPC techniques available.