Pub Date : 2020-07-01DOI: 10.23919/ACC45564.2020.9148029
Shanwei Su, Wei Lin
Global asymptotic tracking by output feedback is studied for a class of nonminimum-phase nonlinear systems in output feedback form. It is proved that the tracking problem is solvable by an n-dimensional output feedback controller under the two conditions: 1) the nonminimum-phase nonlinear system can be rendered minimum-phase by a virtual output; 2) the internal dynamics of the nonlinear system driven by a desired signal and its derivatives has a bounded solution trajectory. With the help of a new coordinate transformation, a constructive method is presented for the design of a dynamic output tracking controller. An example is given to validate the proposed output feedback tracking control scheme.
{"title":"Asymptotic Tracking for Nonminimum-Phase Nonlinear Systems in Output Feedback Form","authors":"Shanwei Su, Wei Lin","doi":"10.23919/ACC45564.2020.9148029","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9148029","url":null,"abstract":"Global asymptotic tracking by output feedback is studied for a class of nonminimum-phase nonlinear systems in output feedback form. It is proved that the tracking problem is solvable by an n-dimensional output feedback controller under the two conditions: 1) the nonminimum-phase nonlinear system can be rendered minimum-phase by a virtual output; 2) the internal dynamics of the nonlinear system driven by a desired signal and its derivatives has a bounded solution trajectory. With the help of a new coordinate transformation, a constructive method is presented for the design of a dynamic output tracking controller. An example is given to validate the proposed output feedback tracking control scheme.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115419336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-01DOI: 10.23919/ACC45564.2020.9147784
G. Cavraro, A. Bernstein, R. Carli, S. Zampieri
Traditionally, electrical power was generated in big power plants. The cost of producing energy was related to the cost of fuel, e.g., carbon or gas, and by the cost of maintaining the power plants. With the advent of distributed energy resources, power can be produced directly at the edge of the electrical network by a new type of agent: the prosumer. Prosumers are entities that both consume and generate power, e.g., by means of photovoltaic panels. The cost of the power produced by prosumers is no longer related to fuel consumption since energy coming from distributed generators is essentially free. Rather, the cost is related to the remuneration that is due to the prosumers for the services they provide. The proposed control strategy minimizes the active power generation cost in the aforementioned scenario. The control scheme requires that the prosumers measure their voltage and then adjust the amount of injected power, according to a continuous time feedback control law that is a projected gradient descent strategy. Simulations are provided to illustrate the algorithm behavior.
{"title":"Distributed Minimization of the Power Generation Cost in Prosumer-Based Distribution Networks","authors":"G. Cavraro, A. Bernstein, R. Carli, S. Zampieri","doi":"10.23919/ACC45564.2020.9147784","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147784","url":null,"abstract":"Traditionally, electrical power was generated in big power plants. The cost of producing energy was related to the cost of fuel, e.g., carbon or gas, and by the cost of maintaining the power plants. With the advent of distributed energy resources, power can be produced directly at the edge of the electrical network by a new type of agent: the prosumer. Prosumers are entities that both consume and generate power, e.g., by means of photovoltaic panels. The cost of the power produced by prosumers is no longer related to fuel consumption since energy coming from distributed generators is essentially free. Rather, the cost is related to the remuneration that is due to the prosumers for the services they provide. The proposed control strategy minimizes the active power generation cost in the aforementioned scenario. The control scheme requires that the prosumers measure their voltage and then adjust the amount of injected power, according to a continuous time feedback control law that is a projected gradient descent strategy. Simulations are provided to illustrate the algorithm behavior.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115626864","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-01DOI: 10.23919/ACC45564.2020.9147817
Austin R. Coffman, Neil Cammardella, P. Barooah, Sean P. Meyn
Thermostatically Controlled Loads (TCLs), e.g., A/Cs and water heaters, are a source of flexible power demand for the power grid: many different power consumption trajectories exist that can maintain consumers’ quality of service (QoS). Extensive research has shown that flexible loads can provide valuable grid services. Quantifying the flexibility capacity of a collection of TCLs is a well-studied problem. However, many studies consider temperature constraints alone, while most TCLs are on/off loads that have cycling (or lock-out) constraints. Studies that have considered lock-out constraints have proposed quantifications that depend on the control algorithm used to coordinate loads to provide grid services.In this work, we present a characterization of the capacity of a collection of TCLs that considers not only temperature, but also cycling and total energy constraints. Our characterization is independent of the algorithm used to control the TCLs; it depends only on the QoS constraints on the individual TCLs. The proposed characterization can be used for planning a feasible power deviation trajectory for a collection of TCLs by solving a convex optimization problem.
{"title":"Flexibility capacity of thermostatically controlled loads with cycling/lock-out constraints","authors":"Austin R. Coffman, Neil Cammardella, P. Barooah, Sean P. Meyn","doi":"10.23919/ACC45564.2020.9147817","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147817","url":null,"abstract":"Thermostatically Controlled Loads (TCLs), e.g., A/Cs and water heaters, are a source of flexible power demand for the power grid: many different power consumption trajectories exist that can maintain consumers’ quality of service (QoS). Extensive research has shown that flexible loads can provide valuable grid services. Quantifying the flexibility capacity of a collection of TCLs is a well-studied problem. However, many studies consider temperature constraints alone, while most TCLs are on/off loads that have cycling (or lock-out) constraints. Studies that have considered lock-out constraints have proposed quantifications that depend on the control algorithm used to coordinate loads to provide grid services.In this work, we present a characterization of the capacity of a collection of TCLs that considers not only temperature, but also cycling and total energy constraints. Our characterization is independent of the algorithm used to control the TCLs; it depends only on the QoS constraints on the individual TCLs. The proposed characterization can be used for planning a feasible power deviation trajectory for a collection of TCLs by solving a convex optimization problem.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125218882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-01DOI: 10.23919/ACC45564.2020.9147374
T. Hsiao, Ching-Hung Cheng
In this paper, we investigate the problem of tracking a fast-moving object by a robot manipulator. The tracking task considered in this paper includes visually locating and predicting the trajectory of an object, approaching and physically contacting the object with the robot arm. Since the object moves with high and varying speeds, tight integration of a high-speed vision system and the robot motion controller is critical for accomplishing this tracking task. We combine multiple cameras and embedded computers to construct a camera array with low latency and an equivalent frame rate as high as the sampling rate of the motion control law. Furthermore, the camera array is triggered and synchronized by the motion controller. The path of the robot is re-planned on-line at every sampling time whenever the camera array updates the latest position of the object. Experiments were conducted and the results showed that the proposed robotic tracking system can accurately predict the trajectory of a fast-moving object, and successfully contact it with the tip of the robot arm.
{"title":"On-line Path Planning and Visual Tracking of Fast-Moving Objects by Robot Manipulators with High-Speed Camera Arrays","authors":"T. Hsiao, Ching-Hung Cheng","doi":"10.23919/ACC45564.2020.9147374","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147374","url":null,"abstract":"In this paper, we investigate the problem of tracking a fast-moving object by a robot manipulator. The tracking task considered in this paper includes visually locating and predicting the trajectory of an object, approaching and physically contacting the object with the robot arm. Since the object moves with high and varying speeds, tight integration of a high-speed vision system and the robot motion controller is critical for accomplishing this tracking task. We combine multiple cameras and embedded computers to construct a camera array with low latency and an equivalent frame rate as high as the sampling rate of the motion control law. Furthermore, the camera array is triggered and synchronized by the motion controller. The path of the robot is re-planned on-line at every sampling time whenever the camera array updates the latest position of the object. Experiments were conducted and the results showed that the proposed robotic tracking system can accurately predict the trajectory of a fast-moving object, and successfully contact it with the tip of the robot arm.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121057729","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-01DOI: 10.23919/ACC45564.2020.9147228
Seth Tau, S. Brennan, K. Reichard, J. Pentzer, D. Gorsich
Path planning for mobile robotics is a topic that has been studied for many decades, with many different formulations and goals. Considering obstacle avoidance with the very simple goal of minimizing the path distance from a start to end location, even this focused problem has attracted many solutions. The aspect of the problem studied in detail here is motivated by the question: what extent of the map needs to be considered by an algorithm to guarantee that the shortest path solution is within the considered extent? The algorithm presented in this paper examines this question in detail, revealing that the area of consideration can be calculated in stages of progress through a known map. Using this bound, the paper then proposes a method for guaranteeing the shortest path, while attempting to minimize the calculation time and memory requirements caused by consideration of map areas that would not admit the optimal path.
{"title":"Increasing Efficiency of Grid Free Path Planning by Bounding the Search Region*","authors":"Seth Tau, S. Brennan, K. Reichard, J. Pentzer, D. Gorsich","doi":"10.23919/ACC45564.2020.9147228","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147228","url":null,"abstract":"Path planning for mobile robotics is a topic that has been studied for many decades, with many different formulations and goals. Considering obstacle avoidance with the very simple goal of minimizing the path distance from a start to end location, even this focused problem has attracted many solutions. The aspect of the problem studied in detail here is motivated by the question: what extent of the map needs to be considered by an algorithm to guarantee that the shortest path solution is within the considered extent? The algorithm presented in this paper examines this question in detail, revealing that the area of consideration can be calculated in stages of progress through a known map. Using this bound, the paper then proposes a method for guaranteeing the shortest path, while attempting to minimize the calculation time and memory requirements caused by consideration of map areas that would not admit the optimal path.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121081171","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-01DOI: 10.23919/acc45564.2020.9147502
Giordana Bucchioni, M. Innocenti
Autonomous rendezvous and docking/berthing in presence of two main attracting bodies is considered one of the key operations for future space explorations. Dynamic modeling, and relative guidance and control algorithms must be designed so as not to compromise the safety of the mission and to provide a collision-free environment. Two of the main approaches to guarantee collision avoidance are a closed loop active control design, and an open loop passive strategy. The paper presents the development of a passive safety procedure based on manifold theory, which provides collision-free trajectory in the presence of specific actuator failures. The proposed procedure is applied to the scenario defined by the European Space Agency Heracles study, for rendezvous in cislunar orbits.
{"title":"Open Loop Safe Trajectory Design for Cislunar NRHO Rendezvous","authors":"Giordana Bucchioni, M. Innocenti","doi":"10.23919/acc45564.2020.9147502","DOIUrl":"https://doi.org/10.23919/acc45564.2020.9147502","url":null,"abstract":"Autonomous rendezvous and docking/berthing in presence of two main attracting bodies is considered one of the key operations for future space explorations. Dynamic modeling, and relative guidance and control algorithms must be designed so as not to compromise the safety of the mission and to provide a collision-free environment. Two of the main approaches to guarantee collision avoidance are a closed loop active control design, and an open loop passive strategy. The paper presents the development of a passive safety procedure based on manifold theory, which provides collision-free trajectory in the presence of specific actuator failures. The proposed procedure is applied to the scenario defined by the European Space Agency Heracles study, for rendezvous in cislunar orbits.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127437002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-01DOI: 10.23919/ACC45564.2020.9147896
Madeline Smith, Abhyudai Singh
We consider a mechanistic stochastic model of an autoregulatory genetic circuit with time delays. More specifically, a protein is expressed in random bursts from its corresponding gene. The synthesized protein is initially inactive and becomes active after a time delay. Rather than considering a deterministic delay, a key aspect of this work is to incorporate stochastic time delays, where the delay is an independent and identically distributed random variable. The active protein inhibits its own production creating a negative feedback loop. Our analysis reveals that for an exponentially-distributed time delay, the noise in protein levels decreases to the Poisson limit with increasing mean time delay. Interestingly, for a gamma-distributed time delay contrasting noise behaviors emerge based on the negative feedback strength. At low feedback strengths the protein noise levels monotonically decrease to the Poisson limit with increasing average delay. At intermediate feedback strengths, the noise levels first increase to reach a maximum, and then decrease back to the Poisson limit with increasing average delay. Finally, with strong feedback the protein noise levels monotonically increase with increasing average delay. For each of these scenarios we provide approximate analytical formulas for the protein mean and noise levels, and validate these results by performing exact Monte Carlo simulations. In conclusion, our results uncover a counter-intuitive feature where inclusion of stochastic delays in a negative feedback circuit can play a beneficial role in buffering deleterious fluctuations in the level of a protein.
{"title":"Noise suppression by stochastic delays in negatively autoregulated gene expression","authors":"Madeline Smith, Abhyudai Singh","doi":"10.23919/ACC45564.2020.9147896","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147896","url":null,"abstract":"We consider a mechanistic stochastic model of an autoregulatory genetic circuit with time delays. More specifically, a protein is expressed in random bursts from its corresponding gene. The synthesized protein is initially inactive and becomes active after a time delay. Rather than considering a deterministic delay, a key aspect of this work is to incorporate stochastic time delays, where the delay is an independent and identically distributed random variable. The active protein inhibits its own production creating a negative feedback loop. Our analysis reveals that for an exponentially-distributed time delay, the noise in protein levels decreases to the Poisson limit with increasing mean time delay. Interestingly, for a gamma-distributed time delay contrasting noise behaviors emerge based on the negative feedback strength. At low feedback strengths the protein noise levels monotonically decrease to the Poisson limit with increasing average delay. At intermediate feedback strengths, the noise levels first increase to reach a maximum, and then decrease back to the Poisson limit with increasing average delay. Finally, with strong feedback the protein noise levels monotonically increase with increasing average delay. For each of these scenarios we provide approximate analytical formulas for the protein mean and noise levels, and validate these results by performing exact Monte Carlo simulations. In conclusion, our results uncover a counter-intuitive feature where inclusion of stochastic delays in a negative feedback circuit can play a beneficial role in buffering deleterious fluctuations in the level of a protein.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124862170","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-01DOI: 10.23919/ACC45564.2020.9147942
V. Nikiforov, A. V. Paramonov, D. Gerasimov
The paper deals with the problem of simultaneous adaptive compensation of external disturbances and asymptotic reference tracking in linear time-invariant multi-input multi-output square plants with input delay and unmeasurable state. The plant to be controlled can be unstable. The external signals — disturbance to be compensated and reference to be tracked — are modeled as multi-harmonic signals with unknown frequencies, phases and amplitudes. The solution is based on suitable external signals parameterization and prediction as well as on special tracking error augmentation allowing one to overcome the problem of input delay in adaptation algorithm. Two adaptation algorithms using special augmented error are proposed: gradient-based algorithm and an algorithm with improved parametric convergence based on application of Kreisselmeier’s scheme. No a priori assumptions about knowledge of external signal parameters as well as about persistent excitation (PE) condition are needed for asymptotic reference tracking and disturbance rejection in the closed-loop system.
{"title":"Adaptive Output Servocontroller for MIMO System with Input Delay*","authors":"V. Nikiforov, A. V. Paramonov, D. Gerasimov","doi":"10.23919/ACC45564.2020.9147942","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147942","url":null,"abstract":"The paper deals with the problem of simultaneous adaptive compensation of external disturbances and asymptotic reference tracking in linear time-invariant multi-input multi-output square plants with input delay and unmeasurable state. The plant to be controlled can be unstable. The external signals — disturbance to be compensated and reference to be tracked — are modeled as multi-harmonic signals with unknown frequencies, phases and amplitudes. The solution is based on suitable external signals parameterization and prediction as well as on special tracking error augmentation allowing one to overcome the problem of input delay in adaptation algorithm. Two adaptation algorithms using special augmented error are proposed: gradient-based algorithm and an algorithm with improved parametric convergence based on application of Kreisselmeier’s scheme. No a priori assumptions about knowledge of external signal parameters as well as about persistent excitation (PE) condition are needed for asymptotic reference tracking and disturbance rejection in the closed-loop system.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125919042","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-01DOI: 10.23919/ACC45564.2020.9147551
Sriram Krishnaswamy, Shane Vitullo, W. Laidler, Mrinal Kumar
With the rise in use for ground robots, there is a need for efficient detection and tracking to improve SLAM performed by each such agent. This paper analyses the effectiveness of the Dynamic Joint Probabilistic Data Association (DJPDA) framework for target tracking in dense environments by creating a test bed with a fleet of ground robots. DJPDA is a framework that utilizes tensor decomposition, a commonly used technique to tackle "curse of dimensionality", to handle the exponential growth in the binary non-competing joint association events (or feasible events) in Joint Probabilistic Data Association (JPDA) filter. The number of feasible events in JPDA is reduced by utilizing the "core" tensor, a result of the tensor decomposition, as a surrogate for the input of JPDA instead of the complete set of measurements. The test bed created for this experiment consists of 5 Kobuki ground robots. The laser scan data from the on-board Xbox Kinect sensor is collected for each time step by using one of these robots as the observer. Finally, the collected point cloud data is passed to the DJPDA framework for offline computation of the tracks to compare these predicted tracks with the true tracks obtained from the odometry data for each ground robot.
{"title":"Dynamic Joint Probabilistic Data Association Framework for Target Tracking with Ground Robots","authors":"Sriram Krishnaswamy, Shane Vitullo, W. Laidler, Mrinal Kumar","doi":"10.23919/ACC45564.2020.9147551","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147551","url":null,"abstract":"With the rise in use for ground robots, there is a need for efficient detection and tracking to improve SLAM performed by each such agent. This paper analyses the effectiveness of the Dynamic Joint Probabilistic Data Association (DJPDA) framework for target tracking in dense environments by creating a test bed with a fleet of ground robots. DJPDA is a framework that utilizes tensor decomposition, a commonly used technique to tackle \"curse of dimensionality\", to handle the exponential growth in the binary non-competing joint association events (or feasible events) in Joint Probabilistic Data Association (JPDA) filter. The number of feasible events in JPDA is reduced by utilizing the \"core\" tensor, a result of the tensor decomposition, as a surrogate for the input of JPDA instead of the complete set of measurements. The test bed created for this experiment consists of 5 Kobuki ground robots. The laser scan data from the on-board Xbox Kinect sensor is collected for each time step by using one of these robots as the observer. Finally, the collected point cloud data is passed to the DJPDA framework for offline computation of the tracks to compare these predicted tracks with the true tracks obtained from the odometry data for each ground robot.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123278429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-01DOI: 10.23919/ACC45564.2020.9147972
Berk Altın, R. Sanfelice
Recent results on asymptotically stabilizing model predictive control for hybrid dynamical systems are relaxed by exploiting basic knowledge about the structure of the set of trajectories. Specifically, it is shown that when the system to be controlled has trajectories with infinitely many discrete transitions, the cost functional of the underlying optimal control problem does not need to weight the state and the input in continuous time. An analogue of this result shows that when trajectories are defined over all ordinary time, the functional does not need to weight the state and the input during discrete transitions. Results are demonstrated with recurring examples.
{"title":"Model Predictive Control for Hybrid Dynamical Systems: Sufficient Conditions for Asymptotic Stability with Persistent Flows or Jumps","authors":"Berk Altın, R. Sanfelice","doi":"10.23919/ACC45564.2020.9147972","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147972","url":null,"abstract":"Recent results on asymptotically stabilizing model predictive control for hybrid dynamical systems are relaxed by exploiting basic knowledge about the structure of the set of trajectories. Specifically, it is shown that when the system to be controlled has trajectories with infinitely many discrete transitions, the cost functional of the underlying optimal control problem does not need to weight the state and the input in continuous time. An analogue of this result shows that when trajectories are defined over all ordinary time, the functional does not need to weight the state and the input during discrete transitions. Results are demonstrated with recurring examples.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123460576","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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