Download or read book Proximity Moving Horizon Estimation written by Meriem Gharbi and published by Logos Verlag Berlin GmbH. This book was released on 2022-04-01 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, we develop and analyze a novel framework for moving horizon estimation (MHE) of linear and nonlinear constrained discrete-time systems, which we refer to as proximity moving horizon estimation. The conceptual idea of the proposed framework is to employ a stabilizing a priori solution in order to ensure stability of MHE and to combine it with an online convex optimization in order to obtain an improved performance without jeopardizing stability. The goal of this thesis is to provide proximity-based MHE approaches with desirable theoretical properties and for which reliable and numerically efficient algorithms allow the estimator to be applied in real-time applications. In more detail, we present constructive and simple MHE design procedures which are tailored to the considered class of dynamical systems in order to guarantee important properties of the resulting estimation error dynamics. Furthermore, we develop computationally efficient MHE algorithms in which a suboptimal state estimate is computed at each time instant after an arbitrary and limited number of optimization algorithm iterations. In particular, we introduce a novel class of anytime MHE algorithms which ensure desirable stability and performance properties of the estimator for any number of optimization algorithm iterations, including the case of a single iteration per time instant. In addition to the obtained theoretical results, we discuss the tuning of the performance criteria in proximity MHE given prior knowledge on the system disturbances and illustrate the theoretical properties and practical benefits of the proposed approaches with various numerical examples from the literature.
Download or read book Moving Horizon State Estimation of Discrete Time Systems written by Peter Klaus Findeisen and published by . This book was released on 1997 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Trajectory tracking path following and learning in model predictive control written by Fabian Russell Pfitz and published by Logos Verlag Berlin GmbH. This book was released on 2023-08-21 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, we present novel model predictive control (MPC) formulations based on a convex open-loop optimal control problem to tackle the problem setup of trajectory tracking and path following as well as the control of systems with unknown system dynamic. In particular, we consider the framework of relaxed barrier function based MPC (rbMPC). We extend the existing stability theory to the trajectory tracking and the path following problem. We establish important system theoretic properties like closed-loop stability and exact constraint satisfaction under suitable assumptions. Moreover, we evaluate the developed MPC algorithms in the area of automated driving in simulations as well as in a real-world driving scenario. Further, we consider the control of completely unknown systems based on online optimization. We divide the overall problem into the design of an estimation algorithm and a control algorithm. The control algorithm is a model-independent receding horizon control algorithm in which important system theoretic properties like convergence to the origin are guaranteed without the knowledge of the true system parameters. The estimation and control algorithm are combined together and convergence to the origin of the closed-loop system for fully unknown linear time-invariant discrete-time systems is shown.
Download or read book Moving Horizon Strategies for the Constrained Monitoring and Control of Nonlinear Discrete time Systems written by Christopher V. Rao and published by . This book was released on 2000 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Recent Developments in Mathematical Statistical and Computational Sciences written by D. Marc Kilgour and published by Springer Nature. This book was released on 2021-08-29 with total page 728 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes an up-to-date account of principles, methods, and tools for mathematical and statistical modelling in a wide range of research fields, including medicine, health sciences, biology, environmental science, engineering, physics, chemistry, computation, finance, economics, and social sciences. It presents original solutions to real-world problems, emphasizes the coordinated development of theories and applications, and promotes interdisciplinary collaboration among mathematicians, statisticians, and researchers in other disciplines. Based on a highly successful meeting, the International Conference on Applied Mathematics, Modeling and Computational Science, AMMCS 2019, held from August 18 to 23, 2019, on the main campus of Wilfrid Laurier University, Waterloo, Canada, the contributions are the results of submissions from the conference participants. They provide readers with a broader view of the methods, ideas and tools used in mathematical, statistical and computational sciences.
Download or read book Cooperative Control of Multi Agent Systems written by Yue Wang and published by John Wiley & Sons. This book was released on 2017-03-20 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems. Cooperative Control of Multi-Agent Systems: Theory and Applications provides a wide-ranging review of the latest developments in the cooperative control of multi-agent systems theory and applications. The applications described are mainly in the areas of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Throughout, the authors link basic theory to multi-agent cooperative control practice — illustrated within the context of highly-realistic scenarios of high-level missions — without losing site of the mathematical background needed to provide performance guarantees under general working conditions. Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control. Establishes a bridge between fundamental cooperative control theory and specific problems of interest in a wide range of applications areas Includes example applications from the fields of space exploration, radiation shielding, site clearance, tracking/classification, surveillance, search-and-rescue and more Features detailed presentations of specific algorithms and application frameworks with relevant commercial and military applications Provides a comprehensive look at the latest developments in this rapidly evolving field, while offering informed speculation on future directions for collective control systems The use of multi-agent system technologies in both everyday commercial use and national defense is certain to increase tremendously in the years ahead, making this book a valuable resource for researchers, engineers, and applied mathematicians working in systems and controls, as well as advanced undergraduates and graduate students interested in those areas.
Download or read book Robotics Research written by Makoto Kaneko and published by Springer Science & Business Media. This book was released on 2010-11-07 with total page 448 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Symposium of Robotics Research (ISRR) continues to be the premiere meeting of the International Foundation of Robotics Research (IFRR). The 13th International Symposium of Robotics Research took place Novemb3r 26-29, 2007, in Hiroshima, Japan, and was organized by the two editors of this book. This volume brings a collection of a broad range of topics in robotics. The content of these contributions provides a wide coverage of the current state of robotics research: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and novel areas of applications. Historically, the proceedings of the ISRR have featured ground-breaking work of the highest caliber, which influenced generations to come. The present volume promises to be no exception. The collection of scientific articles in this volume provides new insights to important problems in robotics, written by some of the leaders in the field.
Download or read book Batch Fermentation written by Ali Cinar and published by CRC Press. This book was released on 2003-04-01 with total page 658 pages. Available in PDF, EPUB and Kindle. Book excerpt: Illustrating techniques in model development, signal processing, data reconciliation, process monitoring, quality assurance, intelligent real-time process supervision, and fault detection and diagnosis, Batch Fermentation offers valuable simulation and control strategies for batch fermentation applications in the food, pharmaceutical, and chemical industries. The book provides approaches for determining optimal reference trajectories and operating conditions; estimating final product quality; modifying, adjusting, and enhancing batch process operations; and designing integrated real-time intelligent knowledge-based systems for process monitoring and fault diagnosis.
Download or read book Model Predictive Vibration Control written by Gergely Takács and published by Springer Science & Business Media. This book was released on 2012-03-14 with total page 535 pages. Available in PDF, EPUB and Kindle. Book excerpt: Real-time model predictive controller (MPC) implementation in active vibration control (AVC) is often rendered difficult by fast sampling speeds and extensive actuator-deformation asymmetry. If the control of lightly damped mechanical structures is assumed, the region of attraction containing the set of allowable initial conditions requires a large prediction horizon, making the already computationally demanding on-line process even more complex. Model Predictive Vibration Control provides insight into the predictive control of lightly damped vibrating structures by exploring computationally efficient algorithms which are capable of low frequency vibration control with guaranteed stability and constraint feasibility. In addition to a theoretical primer on active vibration damping and model predictive control, Model Predictive Vibration Control provides a guide through the necessary steps in understanding the founding ideas of predictive control applied in AVC such as: · the implementation of computationally efficient algorithms · control strategies in simulation and experiment and · typical hardware requirements for piezoceramics actuated smart structures. The use of a simple laboratory model and inclusion of over 170 illustrations provides readers with clear and methodical explanations, making Model Predictive Vibration Control the ideal support material for graduates, researchers and industrial practitioners with an interest in efficient predictive control to be utilized in active vibration attenuation.
Download or read book State Estimation for Robotics written by Timothy D. Barfoot and published by Cambridge University Press. This book was released on 2017-07-31 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.
Download or read book Camping Wilderness Survival written by Paul Tawrell and published by Paul Tawrell. This book was released on 2006 with total page 1092 pages. Available in PDF, EPUB and Kindle. Book excerpt: Extensively researched and illustrated guidebook of nearly every conceivable aspect of outdoor camping and survival in all types of terrain and climate.
Download or read book Model Predictive Control written by James Blake Rawlings and published by . This book was released on 2017 with total page 770 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Engineering Psychology and Human Performance written by Christopher D. Wickens and published by Taylor & Francis. This book was released on 2021-09-27 with total page 597 pages. Available in PDF, EPUB and Kindle. Book excerpt: Forming connections between human performance and design, this new edition of Engineering Psychology and Human Performance examines human–machine interaction. The book is organized directly from a psychological perspective of human information processing, and chapters correspond to the flow of information as it is processed by a human being—from the senses, through the brain, to action—rather than from the perspective of system components or engineering design concepts. Upon completing this book, readers will be able to identify how human ability contributes to the design of technology; understand the connections within human information processing and human performance; challenge the way they think about technology’s influence on human performance; and show how theoretical advances have been, or might be, applied to improving human–machine interactions. This new edition includes the following key features: A new chapter on research methods Sections on interruption management and distracted driving as cogent examples of applications of engineering psychology theory to societal problems A greatly increased number of references to pandemics, technostress, and misinformation New applications Amplified emphasis on readability and commonsense examples Updated and new references throughout the text This book is ideal for psychology and engineering students, as well as practitioners in engineering psychology, human performance, and human factors. The text is also supplemented by online resources for students and instructors.
Download or read book Currency Usage for Cross Border Payments written by Hector Perez-Saiz and published by International Monetary Fund. This book was released on 2023-03-24 with total page 28 pages. Available in PDF, EPUB and Kindle. Book excerpt: While the global usage of currencies other than the U.S. dollar and the euro for cross-border payments remains limited, rapid technological (e.g. digital money) or geopolitical changes could accelerate a regime shift into a multipolar or more fragmented international monetary system. Using the rich Swift database of cross-border payments, we empirically estimate the importance of legal tender status, geopolitical distance, and other variables vis-à-vis the large inertia effects for currency usage, and perform several forecasting simulations to better understand the role of these variables in shaping the future payments landscape. While our results suggest a substantially more fragmented international monetary system would be unlikely in the short and medium term, the impact of new technologies remains highly uncertain, and much more rapid geopolitical developments than expected could accelerate the transformation of the international monetary system towards multipolarity.
Download or read book Environmental Equity in Silicon Valley written by Leonard J. Peyton and published by . This book was released on 2001 with total page 422 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Autonomous Mobile Robots written by Rahul Kala and published by Elsevier. This book was released on 2023-09-01 with total page 1090 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Mobile Robots: Planning, Navigation, and Simulation presents detailed coverage of the domain of robotics in motion planning and associated topics in navigation. This book covers numerous base planning methods from diverse schools of learning, including deliberative planning methods, reactive planning methods, task planning methods, fusion of different methods, and cognitive architectures. It is a good resource for doing initial project work in robotics, providing an overview, methods and simulation software in one resource. For more advanced readers, it presents a variety of planning algorithms to choose from, presenting the tradeoffs between the algorithms to ascertain a good choice. Finally, the book presents fusion mechanisms to design hybrid algorithms. Presents intuitive and practical coverage of all sub-problems of mobile robotics to enable easy comprehension of sophisticated modern-day robots Covers a wide variety of motion planning algorithms, giving a near-exhaustive treatment of the domain with thought provoking comparisons between algorithms Dives into detailed discussions on robot operating systems and other simulators to get hands-on knowledge without the need of in-house robots
Download or read book Experimental Robotics written by Bruno Siciliano and published by Springer Nature. This book was released on 2021-03-27 with total page 630 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the volume of the proceedings for the 17th Edition of ISER. The goal of ISER (International Symposium on Experimental Robotics) symposia is to provide a single-track forum on the current developments and new directions of experimental robotics. The series has traditionally attracted a wide readership of researchers and practitioners interested to the advances and innovations of robotics technology. The 54 contributions cover a wide range of topics in robotics and are organized in 9 chapters: aerial robots, design and prototyping, field robotics, human‒robot interaction, machine learning, mapping and localization, multi-robots, perception, planning and control. Experimental validation of algorithms, concepts, or techniques is the common thread running through this large research collection. Chapter “A New Conversion Method to Evaluate the Hazard Potential of Collaborative Robots in Free Collisions” is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.
