Pub Date : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268409
K. Omoto, T. Hirogaki, E. Aoyama
With the development of CNC technology in recent years, a twin-bowl robot configured with a multi-joint robot arm as one arm has been put into practical use, and its application to FA technology is anticipated. On the other hand, the development of IoT technology will enable obtaining servo information of robots and other devices. .It is also expected that the utilization of this information will become more important in the future. In this research, we propose a new method of determining the robot placement, focusing on the joint torque acting on the robot using two small articulated robots, and examined the usefulness of the method.
{"title":"Determining arrangement and cooperative operating control of two industrial robots based on torque margin method","authors":"K. Omoto, T. Hirogaki, E. Aoyama","doi":"10.23919/ICCAS50221.2020.9268409","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268409","url":null,"abstract":"With the development of CNC technology in recent years, a twin-bowl robot configured with a multi-joint robot arm as one arm has been put into practical use, and its application to FA technology is anticipated. On the other hand, the development of IoT technology will enable obtaining servo information of robots and other devices. .It is also expected that the utilization of this information will become more important in the future. In this research, we propose a new method of determining the robot placement, focusing on the joint torque acting on the robot using two small articulated robots, and examined the usefulness of the method.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"56 1 1","pages":"320-322"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91142135","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268393
Sin-Won Kang, Sanghyeon Bae, Tae-Yong Kuc
Localization of indoor mobile robots is an important field in Simultaneous Localization and Mapping (SLAM). SLAM is a technology that generates map and estimates the current locations as robot explore random space. So, that is commonly used in indoor environments where GPS is not working. We propose the method of feature extraction and feature matching for localization. Features are represented wall and corner in line and point. We extract lines and corner points with observed data by 2D lidar sensor and match extracted features with a stored feature in the map. Finally, we show to increase the accuracy of localization by calculating differences between coordinates of matched features.
{"title":"Feature Extraction and Matching Algorithms to Improve Localization Accuracy for Mobile Robots","authors":"Sin-Won Kang, Sanghyeon Bae, Tae-Yong Kuc","doi":"10.23919/ICCAS50221.2020.9268393","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268393","url":null,"abstract":"Localization of indoor mobile robots is an important field in Simultaneous Localization and Mapping (SLAM). SLAM is a technology that generates map and estimates the current locations as robot explore random space. So, that is commonly used in indoor environments where GPS is not working. We propose the method of feature extraction and feature matching for localization. Features are represented wall and corner in line and point. We extract lines and corner points with observed data by 2D lidar sensor and match extracted features with a stored feature in the map. Finally, we show to increase the accuracy of localization by calculating differences between coordinates of matched features.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"3 1","pages":"991-994"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90374312","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268408
Dawoon Jung, J. Kwon, Kwang-yul Baek, Han Woong Ahn, Jong-Wook Choi
Visualizing the Korea Pathfinder Lunar Orbiter (KPLO) attitude control behavior is useful for verifying dynamical characteristics unseen in previous Earth-orbiting satellite missions. This paper describes a visualization component of the LUNASIM simulator running unmodified attitude control flight software that is able to communicate with an external program to animate realistically in three dimensions the simulated attitude and orbital state, thruster firings, and solar array rotations of KPLO at faster-than real-time speeds for intuitive design verification. Visualization is also supported when LUNASIM is connected to a processor emulator in a fully end-to-end simulated ETB environment. Results are presented illustrating accurate spacecraft dynamics during special mission scenarios such as roll maneuvering while Sun-pointing near the ecliptic plane, yaw-flipped lunar orbit attitude, and slewing to image the lunar surface while in 45-degree tilted attitude. These results demonstrate the value of visualizing attitude control simulator output for novel spacecraft missions.
{"title":"Dynamic 3-D Visualization of the Korea Pathfinder Lunar Orbiter Attitude Control Simulator","authors":"Dawoon Jung, J. Kwon, Kwang-yul Baek, Han Woong Ahn, Jong-Wook Choi","doi":"10.23919/ICCAS50221.2020.9268408","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268408","url":null,"abstract":"Visualizing the Korea Pathfinder Lunar Orbiter (KPLO) attitude control behavior is useful for verifying dynamical characteristics unseen in previous Earth-orbiting satellite missions. This paper describes a visualization component of the LUNASIM simulator running unmodified attitude control flight software that is able to communicate with an external program to animate realistically in three dimensions the simulated attitude and orbital state, thruster firings, and solar array rotations of KPLO at faster-than real-time speeds for intuitive design verification. Visualization is also supported when LUNASIM is connected to a processor emulator in a fully end-to-end simulated ETB environment. Results are presented illustrating accurate spacecraft dynamics during special mission scenarios such as roll maneuvering while Sun-pointing near the ecliptic plane, yaw-flipped lunar orbit attitude, and slewing to image the lunar surface while in 45-degree tilted attitude. These results demonstrate the value of visualizing attitude control simulator output for novel spacecraft missions.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"8 1","pages":"788-792"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89698610","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268396
Haider Niaz, Jay J. Liu
At current fossil fuels consumption rate, enormous challenges are associated, including global warming, environmental pollution, climate change, and, more importantly, scarcity of these resources shortly. To combat these challenges, renewable energy-based hydrogen production processes can provide substantial support in minimizing the ever-increasing global warming threat. Therefore, the implementation of renewable energy-based processes will significantly help mitigate CO2 emissions. Among various production pathways, alkaline water electrolysis stands out due to its proven commercial importance. In this study, integrated design for 4.5 MW alkaline water electrolyzer (AWE) and battery energy storage system (BESS) is presented to overcome the dynamic and fluctuating nature of renewable energy and thus provide a continuous green hydrogen production system. Furthermore, a cost analysis is performed for systems with and without BESS to explore the real economic potential of the proposed models. Minimum hydrogen selling price (MHSP) for AWE with BESS presents the lowest selling price of 3.97$/kg, whereas the system without BESS reports MHSP as 4.96 $//kg.
{"title":"Dynamic Model For Solar Hydrogen Via Alkaline Water Electrolyzer: A Real-Time Techno-economic Perspective With And Without Energy Storage System","authors":"Haider Niaz, Jay J. Liu","doi":"10.23919/ICCAS50221.2020.9268396","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268396","url":null,"abstract":"At current fossil fuels consumption rate, enormous challenges are associated, including global warming, environmental pollution, climate change, and, more importantly, scarcity of these resources shortly. To combat these challenges, renewable energy-based hydrogen production processes can provide substantial support in minimizing the ever-increasing global warming threat. Therefore, the implementation of renewable energy-based processes will significantly help mitigate CO2 emissions. Among various production pathways, alkaline water electrolysis stands out due to its proven commercial importance. In this study, integrated design for 4.5 MW alkaline water electrolyzer (AWE) and battery energy storage system (BESS) is presented to overcome the dynamic and fluctuating nature of renewable energy and thus provide a continuous green hydrogen production system. Furthermore, a cost analysis is performed for systems with and without BESS to explore the real economic potential of the proposed models. Minimum hydrogen selling price (MHSP) for AWE with BESS presents the lowest selling price of 3.97$/kg, whereas the system without BESS reports MHSP as 4.96 $//kg.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"115 1","pages":"814-819"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76709462","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268353
Lee Yeong-Ho, Kim Yeong-Jun, Jeong Da-Un, Weon Ihn-Sik
This paper proposes a path planning and obstacle avoidance algorithm for USV(Unmanned Surface Vessel). Path planning for autonomous driving is largely classified into global path generation and regional path generation. First, the A* algorithm is used when creating the global path. At this time, when applying the simple A* algorithm, since the rotation radius and dynamic characteristics of USV are not taken into account, a path generated from the A* algorithm is modified by applying a cardinal spline. Next, the P-DWA (Predictive-Dynamic Window Approach) algorithm was applied to avoid the fixed/moving obstacles of the local path and follow the waypoints generated from the global path.
{"title":"Development of an integrated path planning algorithm for autonomous driving of unmanned surface vessel","authors":"Lee Yeong-Ho, Kim Yeong-Jun, Jeong Da-Un, Weon Ihn-Sik","doi":"10.23919/ICCAS50221.2020.9268353","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268353","url":null,"abstract":"This paper proposes a path planning and obstacle avoidance algorithm for USV(Unmanned Surface Vessel). Path planning for autonomous driving is largely classified into global path generation and regional path generation. First, the A* algorithm is used when creating the global path. At this time, when applying the simple A* algorithm, since the rotation radius and dynamic characteristics of USV are not taken into account, a path generated from the A* algorithm is modified by applying a cardinal spline. Next, the P-DWA (Predictive-Dynamic Window Approach) algorithm was applied to avoid the fixed/moving obstacles of the local path and follow the waypoints generated from the global path.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"44 1","pages":"27-32"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82552920","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268334
Hyun-Gu Jeon, Ji-il Park, Minyoung Lee, M. Cha, Kyung-Soo Kim
Images taken outdoors are highly likely to generate noise due to rain, snow, and fog. So, removing noise is one of the important fields in image processing. This field usually requires a real-time, high-speed image processing. The noise removal field could be used in the pre-processing stage of extensive image processing such as perception processing of autonomous vehicles. Therefore, optimization for real-time processing should be preceded and an approach that characteristics of color space will be one of them. This research applies several color spaces to image processing and analyzes them through three steps. First, the dataset construction. A ground truth and a noised dataset are needed for quantitative evaluation. Second, image de-noise. Third, evaluation through indicators. Through this, analyze the possibility of optimizing image processing through color space.
{"title":"Analysis of noise removal speed and accuracy in various color spaces of image","authors":"Hyun-Gu Jeon, Ji-il Park, Minyoung Lee, M. Cha, Kyung-Soo Kim","doi":"10.23919/ICCAS50221.2020.9268334","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268334","url":null,"abstract":"Images taken outdoors are highly likely to generate noise due to rain, snow, and fog. So, removing noise is one of the important fields in image processing. This field usually requires a real-time, high-speed image processing. The noise removal field could be used in the pre-processing stage of extensive image processing such as perception processing of autonomous vehicles. Therefore, optimization for real-time processing should be preceded and an approach that characteristics of color space will be one of them. This research applies several color spaces to image processing and analyzes them through three steps. First, the dataset construction. A ground truth and a noised dataset are needed for quantitative evaluation. Second, image de-noise. Third, evaluation through indicators. Through this, analyze the possibility of optimizing image processing through color space.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"18 12 1","pages":"999-1001"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83329672","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268431
Hyunjee Ryu, Inhwan Wee, Taeyeon Kim, D. Shim
Nowadays, the importance of the object recognition of an aerial vehicle has increased, and many studies have been conducted. For Urban Aerial Mobility (UAM), it is important to recognize other vehicles, such as drones and birds, and avoid collisions when flying. In this paper, two sensors are fused to detect objects. It is used by fusing a camera sensor that can be used with light and low power, and a lidar sensor that has high near-field reliability and can know the location information of an object. Typically, Radar is used to recognize objects on airplanes but has been replaced by riders to conduct research on the drone platform. By using the features of the two sensors, the recognition rate of objects at short and long distances is increased, and reliability is increased through sensor redundancy. In addition, it was possible to drive in real-time on the embedded board through system optimization. Existing vehicles recognize other vehicles using Radar and communication. However, through the sensor fusion presented in this paper, it is possible to increase the object recognition rate in stand-alone situations.
{"title":"Heterogeneous sensor fusion based omnidirectional object detection","authors":"Hyunjee Ryu, Inhwan Wee, Taeyeon Kim, D. Shim","doi":"10.23919/ICCAS50221.2020.9268431","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268431","url":null,"abstract":"Nowadays, the importance of the object recognition of an aerial vehicle has increased, and many studies have been conducted. For Urban Aerial Mobility (UAM), it is important to recognize other vehicles, such as drones and birds, and avoid collisions when flying. In this paper, two sensors are fused to detect objects. It is used by fusing a camera sensor that can be used with light and low power, and a lidar sensor that has high near-field reliability and can know the location information of an object. Typically, Radar is used to recognize objects on airplanes but has been replaced by riders to conduct research on the drone platform. By using the features of the two sensors, the recognition rate of objects at short and long distances is increased, and reliability is increased through sensor redundancy. In addition, it was possible to drive in real-time on the embedded board through system optimization. Existing vehicles recognize other vehicles using Radar and communication. However, through the sensor fusion presented in this paper, it is possible to increase the object recognition rate in stand-alone situations.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"109 1","pages":"924-927"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77061231","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268320
Duy-Linh Nguyen, M. D. Putro, K. Jo
Hand detection and recognition topic has been studied since the last century and is particularly concerned with the development of machine learning today. Inspired by the benefits of a convolution neural network (CNN), this paper proposed an efficient and lightweight architecture to detect the location of hand in the images. This network is deployed with two main blocks which are the feature extraction and the detection block. The feature extraction block starts by convolution layers, CReLU (Concatenated Rectified Linear Unit) module, and max pooling layers alternately. After that, the six inception modules are used and final by four convolution layers. The detection block is constructed by three blocks of two-sibling convolution layers using for classification and regression. The experiment was trained on the combination of EgoHands and Hand dataset. As evaluation, the detector was tested on Egohands test dataset with the results achieved 93.32% of AP (Average Precision). In addition, the speed was tested in real-time by 33.87 fps (frames per second) on Intel Core I7-4770 CPU @ 3.40 GHz.
手部检测与识别这一课题自上个世纪以来一直被研究，尤其关注当今机器学习的发展。受卷积神经网络(CNN)优势的启发，本文提出了一种高效、轻量级的图像手部位置检测体系结构。该网络由特征提取和检测两个主要块组成。特征提取块由卷积层、CReLU (concatated Rectified Linear Unit)模块和最大池化层交替进行。然后，使用六个初始模块，最后使用四个卷积层。检测块由两个兄弟卷积层的三个块构成，用于分类和回归。实验是在EgoHands和Hand数据集的组合上进行训练的。作为评价，该检测器在Egohands测试数据集上进行了测试，结果达到了93.32%的AP (Average Precision)。此外，在英特尔酷睿I7-4770 CPU @ 3.40 GHz上实时测试了33.87 fps(每秒帧数)的速度。
{"title":"Hand Detector based on Efficient and Lighweight Convolutional Neural Network","authors":"Duy-Linh Nguyen, M. D. Putro, K. Jo","doi":"10.23919/ICCAS50221.2020.9268320","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268320","url":null,"abstract":"Hand detection and recognition topic has been studied since the last century and is particularly concerned with the development of machine learning today. Inspired by the benefits of a convolution neural network (CNN), this paper proposed an efficient and lightweight architecture to detect the location of hand in the images. This network is deployed with two main blocks which are the feature extraction and the detection block. The feature extraction block starts by convolution layers, CReLU (Concatenated Rectified Linear Unit) module, and max pooling layers alternately. After that, the six inception modules are used and final by four convolution layers. The detection block is constructed by three blocks of two-sibling convolution layers using for classification and regression. The experiment was trained on the combination of EgoHands and Hand dataset. As evaluation, the detector was tested on Egohands test dataset with the results achieved 93.32% of AP (Average Precision). In addition, the speed was tested in real-time by 33.87 fps (frames per second) on Intel Core I7-4770 CPU @ 3.40 GHz.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"28 1","pages":"432-436"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75036948","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268395
Nguyen Tri Giang Vu, Q. Nguyen, Van Thuat Nguyen
This paper presents a parameter identification of a flexible beam attached to a translating hub. A dynamic model of the beam-hub system is obtained by applying the Euler-Bernoulli beam theory, in which dynamic coupling between the beam and the hub is shown. The continuous model is discretized for utilizing identification purposes by the Galerkin method. Then, the identification process is conducted in the frequency domain along with modal analysis to determine unknown parameters of the system, where a vision system is applied to record the transverse vibrations of the beam. Finally, the validity of the identified parameter is verified by comparison of the measured vibrations of defined points of the beam-hub system with the simulation results.
{"title":"Parameter identification of a flexible cantilever beam with a moving hub","authors":"Nguyen Tri Giang Vu, Q. Nguyen, Van Thuat Nguyen","doi":"10.23919/ICCAS50221.2020.9268395","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268395","url":null,"abstract":"This paper presents a parameter identification of a flexible beam attached to a translating hub. A dynamic model of the beam-hub system is obtained by applying the Euler-Bernoulli beam theory, in which dynamic coupling between the beam and the hub is shown. The continuous model is discretized for utilizing identification purposes by the Galerkin method. Then, the identification process is conducted in the frequency domain along with modal analysis to determine unknown parameters of the system, where a vision system is applied to record the transverse vibrations of the beam. Finally, the validity of the identified parameter is verified by comparison of the measured vibrations of defined points of the beam-hub system with the simulation results.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"93 1","pages":"833-838"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75944173","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268217
Zilong Cheng, Jun Ma, Xiaoxue Zhang, Tong-heng Lee
A lasso model predictive control (MPC) problem solved by the alternative direction method of multipliers (ADMM) is investigated in this work. More specifically, a semi-proximal ADMM algorithm with Gauss-Seidel iterations is proposed to solve the lasso MPC problem with singular weighting matrices. It is well-known that the interior-point algorithm is an effective and efficient algorithm, which is commonly used to obtain the real-time solution to the MPC optimization problem. However, when the weighting matrices of the lasso MPC problem are singular, it is extremely challenging to solve the optimization problem by using the classical interior-point algorithm. In fact, in some special cases, the interior-point algorithm is entirely infeasible for solving the aforementioned problems. In the work here, our developments reveal that the proposed optimization methodology (a semi-proximal ADMM algorithm with Gauss-Seidel iterations) is much more advantageous compared to the interior-point algorithm in some specific cases, especially in the case where singular weighting matrices exist in the cost function. An MPC based tracking problem of an unmanned aerial vehicle (UAV) system is implemented to compare the performance of the proposed algorithm to the performance of the existing solver. The simulation result shows that with the proposed algorithm, higher accuracy and computational efficiency can be realized.
{"title":"Semi-Proximal ADMM for Model Predictive Control Problem with Application to a UAV System","authors":"Zilong Cheng, Jun Ma, Xiaoxue Zhang, Tong-heng Lee","doi":"10.23919/ICCAS50221.2020.9268217","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268217","url":null,"abstract":"A lasso model predictive control (MPC) problem solved by the alternative direction method of multipliers (ADMM) is investigated in this work. More specifically, a semi-proximal ADMM algorithm with Gauss-Seidel iterations is proposed to solve the lasso MPC problem with singular weighting matrices. It is well-known that the interior-point algorithm is an effective and efficient algorithm, which is commonly used to obtain the real-time solution to the MPC optimization problem. However, when the weighting matrices of the lasso MPC problem are singular, it is extremely challenging to solve the optimization problem by using the classical interior-point algorithm. In fact, in some special cases, the interior-point algorithm is entirely infeasible for solving the aforementioned problems. In the work here, our developments reveal that the proposed optimization methodology (a semi-proximal ADMM algorithm with Gauss-Seidel iterations) is much more advantageous compared to the interior-point algorithm in some specific cases, especially in the case where singular weighting matrices exist in the cost function. An MPC based tracking problem of an unmanned aerial vehicle (UAV) system is implemented to compare the performance of the proposed algorithm to the performance of the existing solver. The simulation result shows that with the proposed algorithm, higher accuracy and computational efficiency can be realized.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"108 1","pages":"82-87"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80832668","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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