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| 2. |
- Borrelli, Francesco, et al.
(författare)
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Event-Based Receding Horizon Control for Two-Stages Multi-Product Production Plants
- 2007
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Ingår i: Control Engineering Practice. - : Elsevier BV. - 0967-0661. ; 15:12, s. 1556-1568
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Tidskriftsartikel (refereegranskat)abstract
- In this paper a receding horizon control approach for multi-product production plants is presented. Specifically two-stages plants are considered. In the first stage, a set of parallel production lines generates intermediate products from raw materials. In the second stage, the intermediate products are assembled into final products. A set of buffers for the intermediate products connects the production lines and the assembly line thus allowing a continuous production flow.The focus is on plants where the switch between product types is less frequent than in the assembly line. The latter is mostly dictated by the external demand, while the first one is the main scheduling variable. A systematic event-based control approach using Receding horizon control (RHC) techniques is proposed; specifically the production line flow is controlled in order to satisfy the time-varying request from the assembly line while minimizing the intermediate products storage and processing time. Experimental results underline the benefits resulting from the application of the proposed approach to a car engine manufacturing process.
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| 3. |
- Borrelli, Francesco, et al.
(författare)
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Event-Based Receding Horizon Control for Two-Stages Multi-Product Production Plants
- 2006
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Ingår i: American Control Conference, Minneapolis, Minnesota. June 2006..
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a receding horizon control approach for multi-product production plants. Two-stages multi-product plants are considered. In the first stage, aset of parallel production lines generates intermediate products from raw materials. In the second stage, intermediate products are assembled together into final products through an assembly line. A set of buffers for the intermediate products connects the production lines and the assembly line and allows a continuous production flow.We propose a systematic event-based and control-oriented approach to this class of problems. We employ receding horizon control (RHC) techniques to control the production line flow in order to satisfy the time-varying request from the assembly line and optimize a certain performance criterium which includes the minimization of the intermediate products storage and the reduction of the processing time. Experimental data show the benefits deriving from the application of the proposed approach to a process of car engine manufacturing.
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| 5. |
- Borrelli, Francesco, et al.
(författare)
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MPC-based approach to active steering for autonomous vehicle systems
- 2005
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Ingår i: International Journal on Vehicle Autonomous Systems. ; 3:2/3/4, s. 265--291-
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Tidskriftsartikel (refereegranskat)abstract
- In this paper a novel approach to autonomous steering systems is presented. A model predictive control (MPC) scheme is designed in order to stabilize a vehicle along a desired path while fulfilling its physical constraints. Simulation results show the benefits of the systematic control methodology used. In particular we show how very effective steering manoeuvres are obtained as a result of the MPC feedback policy. Moreover, we highlight the trade off between the vehicle speed and the required preview on the desired path in order to stabilize the vehicle. The paper concludes with highlights on future research and on the necessary steps for experimental validation of the approach.
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| 7. |
- Borrelli, Francesco, et al.
(författare)
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Reference Governor for Constrained Piecewise Affine Systems
- 2009
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Ingår i: Journal of Process Control. - : Elsevier BV. - 0959-1524. ; 19:8, s. 1229-1237
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Tidskriftsartikel (refereegranskat)abstract
- We present a methodology for designing reference tracking controllers for constrained, discrete-time piecewise affine systems. The approach follows the idea of reference governor techniques where the desired set-point is filtered by a system called the “reference governor”. Based on the system current state, set-point, and prescribed constraints, the reference governor computes a newset-point for a low-level controller so that the state and input constraints are satisfied and convergence to the original set-point is guaranteed.In this note we show how to design a reference governor for constrained piecewise affine systems by using polyhedral invariant sets, reachable sets, multiparametric programming and dynamic programming techniques.
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| 8. |
- Bujarbaruah, Monimoy, et al.
(författare)
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Learning Environment Constraints in Collaborative Robotics : A Decentralized Leader-Follower Approach
- 2021
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Ingår i: 2021 IEEE/RSJ IEEE International Workshop on Intelligent Robots and Systems (IROS). - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 1636-1641
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Konferensbidrag (refereegranskat)abstract
- In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to obstacles in their proximity. We consider no explicit communication, so the local environment information and the control actions are not shared between the robots. At any given time step, the leader solves a model predictive control (MPC) problem with its known set of obstacles and plans a feasible trajectory to complete the task. The follower estimates the inputs of the leader and uses a policy to assist the leader while reacting to obstacles in its proximity. The leader infers obstacles in the follower's vicinity by using the difference between the predicted and the real-time estimated follower control action. A method to switch the leader-follower roles is used to improve the control performance in tight environments. The efficacy of our approach is demonstrated with detailed comparisons to two alternative strategies, where it achieves the highest success rate, while completing the task fastest.
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| 9. |
- Falcone, Paolo, 1977, et al.
(författare)
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A Hierarchical Model Predictive Control Framework for Autonomous Ground Vehicles
- 2008
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Ingår i: American Control Conference. - 0743-1619. - 9781424420797 ; , s. 3719 - 3724
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Konferensbidrag (refereegranskat)abstract
- A hierarchical framework based on Model Predictive Control (MPC) for autonomous vehicles is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle while fulfilling various physical and design constraints.We start from the low-level active steering-controller presented in [3], [9] and integrate it with a high level trajectory planner. At both levels MPC design is used. At the high-level, a trajectory is computed on-line, in a receding horizon fashion, based on a simplified point-mass vehicle model. At the low-level a MPC controller computes the vehicle inputs in order to best follow the desired trajectory based on detailed nonlinear vehicle model.This article presents the approach, the method for implementing it, and successful preliminary simulative results on slippery roads at high entry speed.
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| 10. |
- Falcone, Paolo, 1977, et al.
(författare)
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A Model Predictive Control Approach for Combined Braking and Steering in Autonomous Vehicles
- 2007
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Ingår i: 15th Mediterranean Conference on Control and Automation, Athens, Greece, June 2007.
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a Model Predictive Control (MPC) approach for combined braking and steering systems in autonomous vehicles. We start from the result presented in [1] and [2], where a Model Predictive Controller (MPC) for autonomous steering systems has been presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle and the brakes at the four wheels independently, while fulfilling various physical and design constraints.
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