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- Axehill, Daniel, 1978-, et al.
(författare)
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Mixed Integer Predictive Control Using a Tailored Mixed Integer Dual Quadratic Programming Algorithm
- 2006
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Ingår i: Proceedings of Reglermöte 2006.
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- The objective with this work is to derive an MIQP solver tailored for MPC. The MIQP solver is built on the branch and bound method, where QP relaxations of the original problem are solved in the nodes of a binary search tree. The difference between the subproblems is often small and therefore it is interesting to be able to use a previous solution as a starting point in a new subproblem. This is referred to as a warm start of the solver. Because of its good warm start properties, a dual active set QP method was chosen. The method is tailored for MPC by solving a part of the KKT system using a Riccati recursion, which makes the computational complexity of the QP iterations grow linearly with the prediction horizon. Simulation results are presented both for the QP solver itself and when it is incorporated as a part of the MIQP solver. In both cases the computational complexity is significantly reduced compared to if a primal active set solver not utilizing structure is used.
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- Axehill, Daniel, 1978-, et al.
(författare)
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Towards Parallel Implementation of Hybrid MPC : A Survey and Directions for Future Research
- 2012
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Ingår i: Distributed decision making and control. - London : Springer London. - 9781447122647 - 9781447122654 ; , s. 313-338
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Konferensbidrag (refereegranskat)abstract
- In this chapter parallel implementations of hybrid MPC will be discussed. Different methods for achieving parallelism at different levels of the algorithms will be surveyed. It will be seen that there are many possible ways of obtaining parallelism for hybrid MPC, and it is by no means clear which possibilities that should be utilized to achieve the best possible performance. To answer this question is a challenge for future research.
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- Karlsson, Rickard, 1970-, et al.
(författare)
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Positioning and Control of an Unmanned Aerial Vehicle
- 2006
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Ingår i: Proceedings of the 2nd International CDIO Conference and Collaborators' Meeting. - Linköping : Linköping University Electronic Press.
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Konferensbidrag (refereegranskat)abstract
- In the CDIO-project course in Automatic Control, an Autonomous Unmanned Aerial vehicle (UAV) is constructed, utilizing an existing radio controlled model aircraft. By adding an inertial sensor measuring acceleration and rotation, together with a Global Positioning System (GPS) sensor, the aim is to construct an accurate positioning system. This is used by an on board computer to calculate rudder control signals to a set of DC-servos in order to follow a predefined way-point trajectory. The project involves 17 students, which is roughly three times as big as previous projects, and it comprises both positioning, control, and hardware design. Since the project is still ongoing some preliminary results and conclusions are presented.
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