Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot [PDF]
IEEE International Conference on Robotics and Automation, 2022 This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacle detection.
Zhu Jian +6 more
semanticscholar +1 more source
Adaptive Horizon Model Predictive Control and Al'brekht's Method [PDF]
, 2019 A standard way of finding a feedback law that stabilizes a control system to an operating point is to recast the problem as an infinite horizon optimal control problem. If the optimal cost and the optmal feedback can be found on a large domain around the
E Polak +11 more
core +2 more sources
Trajectory Tracking of Autonomous Vehicle Based on Model Predictive Control With PID Feedback
IEEE transactions on intelligent transportation systems (Print), 2023 The simplified vehicle model often results in inaccuracy with respect to the conventional model predictive control (MPC) as it causes steady error in tracking control, which has negative implications for vehicle cornering.
Duanfeng Chu +3 more
semanticscholar +1 more source
Sensitivity-based multistep MPC for embedded systems [PDF]
, 2015 In model predictive control (MPC), an optimization problem is solved every sampling instant to determine an optimal control for a physical system. We aim to accelerate this procedure for fast systems applications and address the challenge of implementing
Kerrigan, EC, Palma, V, Suardi, A
core +1 more source
Model-Predictive Control of Multilevel Inverters: Challenges, Recent Advances, and Trends
IEEE transactions on power electronics, 2023 Model-predictive control (MPC) has emerged as a promising control method in power electronics, particularly for multiobjective control problems such as multilevel inverter (MLI) applications.
Ibrahim Harbi +13 more
semanticscholar +1 more source
Deep neural learning based distributed predictive control for offshore wind farm using high fidelity LES data [PDF]
, 2021 The paper explores the deep neural learning (DNL) based predictive control approach for offshore wind farm using high fidelity large eddy simulations (LES) data.
Yin, Xiuxing, Zhao, Xiaowei
core +1 more source
Model-Free Predictive Current Control of a Voltage Source Inverter
IEEE Access, 2020 Conventional model predictive control (MPC) of power converter has been widely applied to power inverters achieving high performance, fast dynamic response, and accurate transient control of power converter. However, the MPC strategy is highly reliant on
Jose Rodriguez +5 more
doaj +1 more source
IEEE Open Journal of the Industrial Electronics Society, 2022 Model Predictive Control (MPC) provides various advantages over traditional controllers in power electronics applications. However, reducing the complexity and computational burden of the Finite-control set-model predictive control (FCS-MPC) in multi-leg
Mansour Bouzidi +3 more
doaj +1 more source
High-order volterra model predictive control and its application to a nonlinear polymerisation process [PDF]
, 2005 Model Predictive Control (MPC) has recently found wide acceptance in the process industry, but the existing design and implementation methods are restricted to linear process models. A chemical process involves, however, severe nonlinearity which cannot
C. E. Garcia +10 more
core +1 more source
MPC@CB software: A solution for model predictive control [PDF]
, 2008 This paper deals with a reusable simulation computer code (MPC@CB ). The original program was developed under Matlab for single input single output (SISO) model predictive control (MPC) for any constrained optimization problem (trajectory tracking, processing time minimization...).
da Silva, Bruno +3 more
openaire +2 more sources