/pdf/convex-analysisnoer-san-nojin-zhan-nituite-5dl2rbmoyr.pdf

Convex Analysisの二,三の進展について

This paper recalls a few past achievements in Model Predictive Control, gives an overview of some current developments and suggests a few avenues for future research.

Model Predictive Control

Convex bodies: the brunn–minkowski theory

Model predictive control (MPC) has demonstrated exceptional success for the high-performance control of complex systems [1], [2]. The conceptual simplicity of MPC as well as its ability to effectively cope with the complex dynamics of systems with multiple inputs and outputs, input and state/output constraints, and conflicting control objectives have made it an attractive multivariable constrained control approach [1]. MPC (a.k.a. receding-horizon control) solves an open-loop constrained optimal control problem (OCP) repeatedly in a receding-horizon manner [3]. The OCP is solved over a finite sequence of control actions {u0,u1,f,uN- 1} at every sampling time instant that the current state of the system is measured. The first element of the sequence of optimal control actions is applied to the system, and the computations are then repeated at the next sampling time. Thus, MPC replaces a feedback control law p(m), which can have formidable offline computation, with the repeated solution of an open-loop OCP [2]. In fact, repeated solution of the OCP confers an "implicit" feedback action to MPC to cope with system uncertainties and disturbances. Alternatively, explicit MPC approaches circumvent the need to solve an OCP online by deriving relationships for the optimal control actions in terms of an "explicit" function of the state and reference vectors. However, explicit MPC is not typically intended to replace standard MPC but, rather, to extend its area of application [4]-[6].

/pdf/stochastic-model-predictive-control-an-overview-and-1kyy9166uh.pdf

Stochastic Model Predictive Control: An Overview and Perspectives for Future Research

An approach for formally verifying the safety of automated vehicles is proposed. Due to the uniqueness of each traffic situation, we verify safety online, i.e., during the operation of the vehicle. The verification is performed by predicting the set of all possible occupancies of the automated vehicle and other traffic participants on the road. In order to capture all possible future scenarios, we apply reachability analysis to consider all possible behaviors of mathematical models considering uncertain inputs (e.g., sensor noise, disturbances) and partially unknown initial states. Safety is guaranteed with respect to the modeled uncertainties and behaviors if the occupancy of the automated vehicle does not intersect that of other traffic participants for all times. The applicability of the approach is demonstrated by test drives with an automated vehicle at the Robotics Institute at Carnegie Mellon University.

/pdf/online-verification-of-automated-road-vehicles-using-5702vmzc1h.pdf

Online Verification of Automated Road Vehicles Using Reachability Analysis

This paper develops a parameterized tube model predictive control (MPC) synthesis method. The most relevant novel feature of our proposal is the online use of a single tractable linear program that optimizes parameterized, Minkowski decomposable, state and control tubes and an associated, fully separable, nonlinear, control policy. The induced control policy enjoys a higher degree of nonlinearity than existing tube MPC and robust MPC using disturbance affine control policy. Our proposal offers greater generality than the state of the art robust MPC methods. It is conjectured, and also established in three cases, that our proposal is equivalent, feasibility-wise, to dynamic programming (DP). It is also shown that, under natural assumptions, our method is computationally efficient while it possesses rather strong system theoretic properties.

/pdf/parameterized-tube-model-predictive-control-52rvlj9vs9.pdf

Parameterized Tube Model Predictive Control

Modelling and explicit model predictive control for PEM fuel cell systems

Explicit/multi-parametric model predictive control (MPC) of linear discrete-time systems by dynamic and multi-parametric programming

An algorithm for robust explicit/multi-parametric model predictive control

http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac11-proceedings/data/html/papers/3110.pdf

Christos Panos

Papers

Parameterized Tube Model Predictive Control

Modelling and explicit model predictive control for PEM fuel cell systems

Explicit/multi-parametric model predictive control (MPC) of linear discrete-time systems by dynamic and multi-parametric programming

An algorithm for robust explicit/multi-parametric model predictive control

Fully Parameterized Tube MPC