| 1. |
- Axehill, Daniel, et al.
(författare)
-
On Relaxations Applicable to Model Predictive Control for Systems with Binary Control Signals
- 2007
-
Ingår i: Proceedings of the 7th IFAC Symposium on Nonlinear Control Systems. - : Curran Associates, Inc.. - 9783902661289 ; , s. 585-590
-
Konferensbidrag (refereegranskat)abstract
- In this work, different relaxations applicable to an MPC problem with binary control signals are compared. The relaxations considered are the QP relaxation, the standard SDP relaxation and an alternative equality constrained SDP relaxation. The relaxations are related theoretically, and both the tightness of the bounds and the computational complexities are compared in numerical experiments. The result is that for long prediction horizons, the equality constrained SDP relaxation proposed in this paper provides a good trade-off between the quality of the relaxation and the computational time.
|
|
| 2. |
- Glad, Torkel, 1947-
(författare)
-
Computing the Settling Time for Nonlinear Step Responses
- 2007
-
Ingår i: Proceedings of the 7th IFAC Symposium on Nonlinear Control Systems. - 9783902661289 ; , s. 119-122
-
Konferensbidrag (refereegranskat)abstract
- The settling time for the step response of a nonlinear system can be computed using the Poincaré-Dulac normal form. It is then possible to use a simple approximate formula, whose error can be estimated. The data needed can all be calculated from the leading coefficients of series expansions of the Poincaré-Dulac transformation and the equilibrium curve.
|
|
| 3. |
- Hu, Xiao-Li, et al.
(författare)
-
A Basic Convergence Result for Particle Filtering
- 2007
-
Ingår i: Proceedings of the 7th IFAC Symposium on Nonlinear Control Systems. - Linköping : Linköping University Electronic Press. - 9783902661289 ; , s. 288-293
-
Konferensbidrag (refereegranskat)abstract
- The basic nonlinear filtering problem for dynamical systems is considered. Approximating the optimal filter estimate by particle filter methods has become perhaps the most common and useful method in recent years. Many variants of particle filters have been suggested, and there is an extensive literature on the theoretical aspects of the quality of the approximation. Still, a clear cut result that the approximate solution, for unbounded functions, converges to the true optimal estimate as the number of particles tends to infinity seems to be lacking. It is the purpose of this contribution to give such a basic convergence result.
|
|
| 4. |
|
|
| 5. |
- Ohlsson, Henrik, 1981-, et al.
(författare)
-
Using Manifold Learning for Nonlinear System Identification
- 2007
-
Ingår i: Proceedings of the 7th IFAC Symposium on Nonlinear Control Systems. - Linköping : Linköping University Electronic Press. - 9783902661289 ; , s. 170-175
-
Konferensbidrag (refereegranskat)abstract
- A high-dimensional regression space usually causes problems in nonlinear system identification.However, if the regression data are contained in (or spread tightly around) some manifold, thedimensionality can be reduced. This paper presents a use of dimension reduction techniques tocompose a two-step identification scheme suitable for high-dimensional identification problems withmanifold-valued regression data. Illustrating examples are also given.
|
|
| 6. |
- Sjöberg, Johan, 1978-, et al.
(författare)
-
Model Predictive Control of Continuous Time Nonlinear Differential Algebraic Systems
- 2007
-
Ingår i: Proceedings of the 7th IFAC Symposium on Nonlinear Control Systems. - 9783902661289 ; , s. 48-53
-
Konferensbidrag (refereegranskat)abstract
- This work presents a sampled-data nonlinear model predictive control scheme with guaranteed stability for differential-algebraic systems. The main challenge is the avoidance of impulsive solutions due to discontinuities in the input or its derivatives. This is guaranteed by requiring the applied input to be sufficiently smooth. Stability is guaranteed by a terminal penalty term, together with a terminal region constraint. The control scheme is illustrated considering the control of an electrical circuit.
|
|
| 7. |
- Sjöberg, Johan, 1978-, et al.
(författare)
-
Model Reduction of Nonlinear Differential-Algebraic Equations
- 2007
-
Ingår i: Proceedings of the 7th IFAC Symposium on Nonlinear Control Systems. - 9783902661289 ; , s. 176-181
-
Konferensbidrag (refereegranskat)abstract
- In this work, a computational method to compute balanced realizations for nonlinear differential-algebraic equation systems is derived. The work is a generalization of an earlier work for nonlinear control-affine systems, and is based on analysis of the controllability and observability functions.
|
|
