A General Attainable-Set Model Predictive Control Scheme. Application to AUV Operations

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2018-10-15

Autores

Rui Gomes (Autor) FEUP; Fernando Lobo Pereira (Autor) FEUP

Ata de Conferência Internacional

Título: IFAC PAPERSONLINE

Páginas: 314-319

3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control (PID)

Ghent Univ, Ghent, BELGIUM, MAY 09-11, 2018

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-00P-ZYS

DOI: 10.1016/j.ifacol.2018.11.402

Abstract (EN): In this article, a Model Predictive Control (MPC) scheme that, by taking advantage of the control problem time invariant ingredients, replaces as much as possible the on-line computational burden of the conventional schemes, by off-line computation, is presented and its asymptotic stability shown. The generated data is stored onboard in look-up tables and recruited and adapted on-line with small computation effort according to the real-time context specified by communicated or sensed data. This scheme is particularly important to the increasing range of applications exhibiting severe real-time constraints. The approach presented here provides a better re-conciliation of onboard resources optimization with state feedback control - to deal with the typical a priori high uncertainty - while managing the formation with a low computational budget which otherwise might have a significant impact in power consumption.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6