The Experts below are selected from a list of 4536 Experts worldwide ranked by ideXlab platform
Toshiyuki Ohtsuka - One of the best experts on this subject based on the ideXlab platform.
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ASCC - Output Feedback Receding Horizon Control for spatiotemporal dynamic systems
2013 9th Asian Control Conference (ASCC), 2013Co-Authors: Tomoaki Hashimoto, Yu Takiguchi, Toshiyuki OhtsukaAbstract:Receding Horizon Control problem is investigated here for a generalized class of spatiotemporal dynamic systems. Receding Horizon Controllers often assume that all state variables are exactly known. However, it is usual that the state variables of systems are measured through outputs, hence, only limited parts of them can be used directly. Moreover, the output signals may be disturbed by process and sensor noises. In this study, we develop a design method of output feedback Receding Horizon Control for a generalized class of spatiotemporal dynamic systems. We apply the contraction mapping method and unscented Kalman filter for solving the optimization and estimation problems, respectively. The effectiveness of the proposed method is verified by numerical simulations.
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Receding Horizon Control With Numerical Solution for Nonlinear Parabolic Partial Differential Equations
IEEE Transactions on Automatic Control, 2013Co-Authors: Tomoaki Hashimoto, Yusuke Yoshioka, Toshiyuki OhtsukaAbstract:The optimal Control of nonlinear partial differential equations (PDEs) is an open problem with applications that include fluid, thermal, biological, and chemical systems. Receding Horizon Control is a kind of optimal feedback Control, and its performance index has a moving initial time and a moving terminal time. In this study, we develop a design method of Receding Horizon Control for systems described by nonlinear parabolic PDEs. The objective of this study is to develop a novel algorithm for numerically solving the Receding Horizon Control problem for nonlinear parabolic PDEs. The effectiveness of the proposed method is verified by numerical simulations.
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CDC - Receding Horizon Control with numerical solution for spatiotemporal dynamic systems
2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012Co-Authors: Tomoaki Hashimoto, Yusuke Yoshioka, Toshiyuki OhtsukaAbstract:Receding Horizon Control is a kind of optimal feedback Control, and its performance index has a moving initial time and a moving terminal time. Spatiotemporal dynamic systems are often described by partial differential equations, and their behavior is characterized by both spatial and temporal variables. In this study, we develop a design method of Receding Horizon Control for a generalized class of spatiotemporal dynamic systems. Using the variational principle, we first derive the exact stationary conditions that must be satisfied for a performance index to be optimized. Next, we provide a numerical algorithm for solving the stationary conditions via finite-dimensional approximation. Finally, the effectiveness of the proposed method is verified by numerical simulations.
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CDC - Receding Horizon Control for nonlinear parabolic partial differential equations with boundary Control inputs
49th IEEE Conference on Decision and Control (CDC), 2010Co-Authors: Tomoaki Hashimoto, Yusuke Yoshioka, Toshiyuki OhtsukaAbstract:Optimal Control of nonlinear partial differential equations (PDEs) is an open problem with applications that include fluid, thermal, biological, and chemically-reacting systems. Receding Horizon Control with the continuation/ generalized minimum residual (C/GMRES) method is a fast algorithm to solve the optimal Control problem of nonlinear systems described by ordinary differential equations. In this paper, we develop a design method of the Receding Horizon Control for nonlinear systems described by partial differential equations. Our approach is a direct infinite dimensional extension of the Receding Horizon Control method for finite-dimensional systems. In this paper, we moreover propose an efficient algorithm rather than the C/GMRES algorithm for numerically solving the nonlinear Receding Horizon Control problem. The effectiveness of the proposed method is verified by numerical simulations.
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A numerical solution method to Receding Horizon Control for nonlinear diffusion systems
Proceedings of SICE Annual Conference 2010, 2010Co-Authors: Yusuke Yoshioka, Tomoaki Hashimoto, Toshiyuki OhtsukaAbstract:In this paper, we study the optimal Control problem of nonlinear parabolic partial differential equations (PDEs) with applications that include fluid and thermal system. Receding Horizon Control is a kind of optimal feedback Control in which the Control performance over a finite future is optimized. As described herein, we present a Receding Horizon Control design method for a class of nonlinear parabolic PDEs. Our approach is a direct infinite-dimensional extension of the finite-dimensional Receding Horizon Control method. We also propose a fast algorithm for numerically solving the stationary conditions that must be satisfied for optimality. Results of numerical simulations verified the effectiveness of the proposed method.
H. Michalska - One of the best experts on this subject based on the ideXlab platform.
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Receding Horizon Control of differential difference systems with multiple delay parameters
2006Co-Authors: H. Michalska, Mu-chiao LuAbstract:The paper complements a previous result concerning Receding Horizon Control for time delayed systems which allowed only for the presence of a single delay in the system. Sufficient, computationally feasible, conditions for the existence of the Receding Horizon Control law are presented for a general system with an arbitrary number of delay parameters. The existence conditions are clearly related to delay independent system stabilizability. It is shown that if the system is feedback stabilizable then the Receding Horizon Control delivers one globally, uniformly, and asymptotically stabilizing Control law.
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Discontinuous Receding Horizon Control with state constraints
Proceedings of 1995 American Control Conference - ACC'95, 1995Co-Authors: H. MichalskaAbstract:The Receding Horizon Control strategy provides a relatively simple method for determining feedback Control for nonlinear systems. This type of Control has been shown to be globally asymptotically stabilizing when applied to a class of nonlinear systems. An additional feature that makes the Receding Horizon Control attractive for applications is that it is robust and allows for construction of feedback Control in the presence of Control and state constraints imposed on the system. In this paper we allow the Receding Horizon feedback law to be discontinuous and extend the previous results to systems with state constraints.
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Receding Horizon Control for nonlinear time-varying systems
[1991] Proceedings of the 30th IEEE Conference on Decision and Control, 1991Co-Authors: R.b. Vinter, H. MichalskaAbstract:The Receding Horizon Control strategy provides a relatively simple method for determining feedback Control for nonlinear systems and has been shown to be globally asymptotically stabilizing when applied to general, time-invariant nonlinear systems. The authors extend previous results by showing that the Receding Horizon Control is globally stabilizing for a large class of time-varying, continuous-time nonlinear systems.
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Robust Receding Horizon Control
[1991] Proceedings of the 30th IEEE Conference on Decision and Control, 1991Co-Authors: D.q. Mayne, H. MichalskaAbstract:In earlier literature the authors had developed an implementation version of Receding Horizon Control. They now present a modified, robust version of the implementable Controller. The robustness of this Controller with respect to plant perturbations is assessed. It is shown that the robust version of the implementable Controller can stabilize the system despite considerable model-system error. The model-system error is assumed to be sector-bounded.
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Receding Horizon Control of nonlinear systems
IEEE Transactions on Automatic Control, 1990Co-Authors: D.q. Mayne, H. MichalskaAbstract:The Receding Horizon Control strategy provides a relatively simple method for determining feedback Control for linear or nonlinear systems. The method is especially useful for the Control of slow nonlinear systems, such as chemical batch processes, where it is possible to solve, sequentially, open-loop fixed-Horizon, optimal Control problems online. The method has been shown to yield a stable closed-loop system when applied to time-invariant or time-varying linear systems. It is shown that the method also yields a stable closed-loop system when applied to nonlinear systems. >
Wook Hyun Kwon - One of the best experts on this subject based on the ideXlab platform.
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Stability-Guaranteed Horizon Size for Receding Horizon Control
IEICE Transactions on Fundamentals of Electronics Communications and Computer Sciences, 2007Co-Authors: Zhonghua Quan, Wook Hyun KwonAbstract:We propose a stability-guaranteed Horizon size (SgHS) for stabilizing Receding Horizon Control (RHC). It is shown that the proposed SgHS can be represented explicitly in terms of the known parameters of the given system model and is independent of the terminal weighting matrix in the cost function. The proposed SgHS is validated via a numerical example.
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Stability condition for Receding Horizon Control of nonlinear discrete-time switched systems
2004 5th Asian Control Conference (IEEE Cat. No.04EX904), 2004Co-Authors: Zhonghua Quan, Wook Hyun KwonAbstract:In this paper, we propose the stability condition of Receding Horizon Control for nonlinear discrete-time switched systems. First, we propose the nonlinear inequality condition on the terminal cost. Under this condition, non increasing monotonicity of the saddle point value of the finite Horizon dynamic game are shown to be guaranteed. Then, we show that Receding Horizon value function is input-to-state stable (ISS) with respect to the external disturbance with this nonlinear inequality condition on the terminal cost for nonlinear discrete-time systems. Using this result, the new stability condition is derived for Receding Horizon Control scheme of nonlinear discrete-time switched systems.
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Brief Robust one-step Receding Horizon Control of discrete-time Markovian jump uncertain systems
Automatica, 2002Co-Authors: Byung-gun Park, Wook Hyun KwonAbstract:This paper proposes a Receding Horizon Control scheme for a set of uncertain discrete-time linear systems with randomly jumping parameters described by a finite-state Markov process whose jumping transition probabilities are assumed to belong to some convex sets. The Control scheme for the underlying systems is based on the minimization of the worst-case one-step finite Horizon cost with a finite terminal weighting matrix at each time instant. This robust Receding Horizon Control scheme has a more general structure than the existing robust Receding Horizon Control for the underlying systems under the same design parameters. The proposed Controller is obtained using semidefinite programming.
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A stabilizing low-order output feedback Receding Horizon Control for linear discrete time-invariant systems
Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), 2002Co-Authors: Wook Hyun KwonAbstract:In this paper, a stabilizing low-order output feedback Receding Horizon Control (RHC) is proposed for linear discrete time-invariant systems. An inequality condition on the terminal weighting matrix is presented under which the closed-loop stability of the low-order output feedback Receding Horizon Controls is guaranteed. Then, it is shown that the stabilizing low-order output feedback Receding Horizon Control problem can be represented as a nonlinear minimization problem based on linear matrix inequalities. An algorithm for solving the nonlinear minimization problem is proposed. Finally, the efficiency of the proposed algorithm is illustrated through numerical examples.
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A stabilizing static output feedback Receding Horizon Control for linear discrete time-invariant systems
IFAC Proceedings Volumes, 2001Co-Authors: Wook Hyun KwonAbstract:Abstract In this paper, a stabilizing static output feedback Receding Horizon Control (RHC) is proposed for linear discrete time-invariant systems. Firstly, an inequality condition on the terminal weighting matrix is presented under which the closed-loop stability of static output feedback Receding Horizon Controls is guaranteed. Then, it is shown that the stabilizing static output feedback Receding Horizon Control problem can be represented as a nonlinear minimization problem based on linear matrix inequalities (LMl's). An algorithm for solving the nonlinear minimization problem is proposed. Finally, applications of the proposed Controller are illustrated through numerical examples.
V. Nevistic - One of the best experts on this subject based on the ideXlab platform.
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A framework for robustness analysis of constrained finite Receding Horizon Control
IEEE Transactions on Automatic Control, 2000Co-Authors: J.a. Primbs, V. NevisticAbstract:A framework for robustness analysis of input-constrained finite Receding Horizon Control is presented. Under the assumption of quadratic upper bounds on the finite Horizon costs, we derive sufficient conditions for robust stability of the standard discrete-time linear-quadratic Receding Horizon Control formulation. This is achieved by recasting conditions for nominal and robust stability as an implication between quadratic forms, lending itself to S-procedure tools which are used to convert robustness questions to tractable convex conditions. Robustness with respect to plant/model mismatch as well as for state measurement error is shown to reduce to the feasibility of linear matrix inequalities. Simple examples demonstrate the approach.
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A framework for robustness analysis of constrained finite Receding Horizon Control
Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207), 1998Co-Authors: J.a. Primbs, V. NevisticAbstract:A framework for robustness analysis of constrained finite Receding Horizon Control is presented. We derive sufficient conditions for robust stability of the standard discrete-time linear-quadratic Receding Horizon Control formulation with arbitrary terminal weights. The key is to view stability as an implication between quadratic forms, allowing an application of the S-procedure. Robustness with respect to plant/model mismatch as well as state measurement error is reduced to the feasibility of linear matrix inequalities. Examples demonstrate this approach.
M. Fujita - One of the best experts on this subject based on the ideXlab platform.
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Robust Receding Horizon Control for piecewise linear systems based on constrained positively invariant
Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), 2002Co-Authors: M. Mukai, T. Azuma, M. FujitaAbstract:This paper considers Receding Horizon Control for constrained piecewise linear systems with the unknown bounded disturbance. The proposed robust Receding Horizon Control is implemented by solving a min-max type optimization problem at each time step, in which mixed logical dynamical formulation is employed, with an end set constraint which consists of constrained positively invariant sets. A simple example is presented to show that the Control law we propose guarantees convergence to the set and satisfying the constraints for the bounded disturbance.
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Visual feedback Control of nonlinear robotics systems via stabilizing Receding Horizon Control approach
Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), 2001Co-Authors: Hiroyuki Kawai, M. FujitaAbstract:This paper investigates a robot motion Control with visual information via the nonlinear Receding Horizon Control approach. Firstly the model of the relative rigid body motion and the nonlinear observer are considered in order to derive the visual feedback system. Secondly the stabilizing feedback Control law for the closed-loop is discussed as a preparation for our main result. Finally we propose the stabilizing Receding Horizon Control scheme for the 3D visual feedback Control problem by using an appropriate Control Lyapunov function as the end point penalty. The proposed scheme employs the cost function as a Lyapunov function for establishing stability.
