scholarly journals Experience-driven Predictive Control with Robust Constraint Satisfaction under Time-Varying State Uncertainty

2017 ◽  
Author(s):  
Vishnu Desaraju ◽  
Alexander Spitzer ◽  
Nathan Michael
Keyword(s):  
Predictive Control ◽  
Constraint Satisfaction ◽  
Time Varying ◽  
State Uncertainty

scholarly journals Leveraging experience for robust, adaptive nonlinear MPC on computationally constrained systems with time-varying state uncertainty

2018 ◽  
Vol 37 (13-14) ◽  
pp. 1690-1712 ◽  
Author(s):  
Vishnu R Desaraju ◽  
Alexander E Spitzer ◽  
Cormac O’Meadhra ◽  
Lauren Lieu ◽  
Nathan Michael
Keyword(s):  
Predictive Control ◽  
Constraint Satisfaction ◽  
Constrained Systems ◽  
Time Varying ◽  
Localization System ◽  
Uncertainty Estimates ◽  
Aerial Robot ◽  
State Uncertainty ◽  
Uncertainty Set ◽  
Robust Adaptive

This paper presents a robust-adaptive nonlinear model predictive control (MPC) technique that leverages past experiences to achieve tractability on computationally constrained systems. We propose a robust extension of the Experience-driven Predictive Control (EPC) algorithm via a Gaussian belief propagation strategy that computes an uncertainty set, bounding the evolution of the system state in the presence of time-varying state uncertainty. This uncertainty set is used to tighten the constraints in the predictive control formulation via a chance-constrained approach, thereby providing a probabilistic guarantee of constraint satisfaction. The parameterized form of the controllers produced by EPC coupled with online uncertainty estimates ensures that this robust constraint satisfaction property persists, even as the system switches controllers and experiences variations in the uncertainty model. We validate the online performance and robust constraint satisfaction of the proposed Robust EPC algorithm through a series of trials with a simulated ground robot and three experimental platforms: (1) a small quadrotor aerial robot executing aggressive maneuvers in wind with degraded state estimates, (2) a skid-steer ground robot equipped with a laser-based localization system, and (3) a hexarotor aerial robot equipped with a vision-based localization system.

scholarly journals Combining Model Predictive Control with Constraint-satisfaction Formulation for the Operative Pumping Control in Water Networks

2015 ◽  
Vol 119 ◽  
pp. 963-972 ◽  
Author(s):  
Congcong Sun ◽  
Mark Morley ◽  
Dragan Savic ◽  
Vicenc¸ Puig ◽  
Gabriela Cembrano ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Constraint Satisfaction ◽  
Water Networks

scholarly journals Generalized Predictive Control for Time-varying System

1998 ◽  
Vol 34 (2) ◽  
pp. 105-111
Author(s):  
Kazunari TAKAHASHI ◽  
Yasushi NAKAUCHI ◽  
Yasuchika MORI
Keyword(s):  
Predictive Control ◽  
Generalized Predictive Control ◽  
Time Varying
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