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Sökning: WFRF:(Klauco Martin)

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1.
  • Bakarac, Peter, et al. (författare)
  • Explicit MPC Based on Approximate Dynamic Programming
  • 2018
  • Ingår i: 2018 EUROPEAN CONTROL CONFERENCE (ECC). - 9783952426982 - 9781538653036
  • Konferensbidrag (refereegranskat)abstract
    • In this paper we show how to synthesize simple explicit MPC controllers based on approximate dynamic programming. Here, a given MPC optimization problem over a finite horizon is solved iteratively as a series of problems of size one. The optimal cost function of each subproblem is approximated by a quadratic function that serves as a cost-to-go function for the subsequent iteration. The approximation is designed in such a way that closed-loop stability and recursive feasibility is maintained. Specifically, we show how to employ sum-of-squares relaxations to enforce that the approximate cost-to-go function is bounded from below and from above for all points of its domain. By resorting to quadratic approximations, the complexity of the resulting explicit MPC controller is considerably reduced both in terms of memory as well as the on-line computations. The procedure is applied to control an inverted pendulum and experimental data are presented to demonstrate viability of such an approach.
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2.
  • Oravec, Juraj, et al. (författare)
  • Computationally Tractable Formulations for Optimal Path Planning with Interception of Targets Neighborhoods
  • 2017
  • Ingår i: Journal of Guidance Control and Dynamics. - : AMER INST AERONAUTICS ASTRONAUTICS. - 0731-5090 .- 1533-3884. ; 40:5, s. 1221-1230
  • Tidskriftsartikel (refereegranskat)abstract
    • Devising the planar routes of minimal length that are required to pass through predefined neighborhoods of target points plays an important role in reducing the missions operating cost. Two versions of the problem are considered. The first one assumes that the ordering of the targets is fixed a priori. In such a case, the optimal route is devised by solving a convex optimization problem formulated either as a second-order cone program or as a sum-of-squares optimization problem. Additional route properties, such as continuity and minimal curvature, are considered as well. The second version allows the ordering of the targets to be optimized to further reduce the route length. We show that such a problem can be solved by introducing additional binary variables, which allows the route to be designed using off-the-shelf mixed-integer solvers. A case study that shows that the proposed strategy is computationally tractable is presented.
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  • Resultat 1-2 av 2
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konferensbidrag (1)
tidskriftsartikel (1)
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refereegranskat (2)
Författare/redaktör
Klauco, Martin (2)
Kvasnica, Michal (2)
Löfberg, Johan, 1974 ... (1)
Bakarac, Peter (1)
Holaza, Juraj (1)
Kaluz, Martin (1)
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Löfberg, Johan (1)
Oravec, Juraj (1)
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