Results 31 to 40 of about 1,367 (181)

Efficient Nonlinear Model Predictive Path Tracking Control for Autonomous Vehicle: Investigating the Effects of Vehicle Dynamics Stiffness

Machines
Motion control is one of the three core modules of autonomous driving, and nonlinear model predictive control (NMPC) has recently attracted widespread attention in the field of motion control.
Guozhu Zhu, Weirong Hong
doaj   +1 more source

Self-tuning NMPC of an Engine Air Path

IFAC-PapersOnLine, 2020
Abstract Many automotive systems such as engines have manufacturing tolerances or change over time. This limits the performance of controllers tuned for the nominal case. A robust controller can not always overcome this performance gap. Against this background, in this work, we propose a self-tuning control strategy for an engine air path model ...
Mendoza D., Schrangl P., Ipanaqué W., del Re L.   +3 more
openaire   +2 more sources

Efficient NMPC for nonlinear models with linear subsystems [PDF]

52nd IEEE Conference on Decision and Control, 2013
Real-time optimal control algorithms for fast, mechatronic systems need to be run on embedded hardware and they need to respect tight timing constraints. When using nonlinear models, the simulation and generation of sensitivities forms a computationally demanding part of any algorithm. Automatic code generation of Implicit Runge-Kutta (IRK) methods has
Rien Quirynen, Sebastien Gros, Moritz Diehl   +2 more
openaire   +2 more sources

NMPC for superfluid helium cryogenics

IFAC-PapersOnLine, 2015
Abstract We present a proof of concept Non-linear Model Predictive Controller (NMPC) for the Superfluid Helium Cryogenic Circuit at the Large Hadron Collider (LHC). The realtime online output feedback economic NMPC is based on a complexrst principles model. Through the paper, we highlight the practical methods leading to the real-time feasibility: 1)
Rafal Noga, Toshiyuki Ohtsuka, Cesar de Prada, Enrique Blanco, Juan Casas   +4 more
openaire   +1 more source

Insensitive Mechanism-Based Nonlinear Model Predictive Guidance for UAVs Intercepting Maneuvering Targets with Input Constraints

Drones
This paper proposed an innovative guidance strategy, denoted as NMPC-IM, which integrates the Insensitive Mechanism (IM) with Nonlinear Model Predictive Control (NMPC) for Unmanned Aerial Vehicle (UAV) pursuit-evasion scenarios, with the aim of ...
Danpeng Huang, Mingjie Zhang, Taideng Zhan, Jianjun Ma   +3 more
doaj   +1 more source

MSD-Based NMPC Aircraft Anti-Skid Brake Control Method Considering Runway Variation

IEEE Access, 2021
In this paper, a nonlinear model predictive control (NMPC) method based on mixed slip-deceleration (MSD) with runway identification is proposed to prevent the aircraft wheels from locking up and improve the braking performance under time-varied runway ...
Mengqiao Chen, Fengrui Xu, Xuelin Liang, Wensheng Liu   +3 more
doaj   +1 more source

Recent Advances in Carbon Cathode Materials toward High‐Performing Zinc‐Ion Hybrid Supercapacitors

Advanced Science, EarlyView.
Aqueous zinc‐ion hybrid supercapacitors (ZHSCs) have emerged as promising next‐generation electrochemical energy‐storage devices. Porous carbon materials have been extensively studied as cathodes, with advances in tailoring pore structures and material properties to enhance performance.
Take Hirooka, Zhaolin Liu, Ivan P. Parkin, Guanjie He   +3 more
wiley   +1 more source

The Improved Model Predictive Pitch Control Method for Wind Turbines Based on LiDAR

Energies
This paper presents a LiDAR-informed adaptive-cost nonlinear model predictive control (NMPC) strategy for wind turbine pitch regulation. The proposed method uses a reinforcement learning (RL) agent as a supervisory cost-shaping module that adjusts the ...
Zhihao Jin, Dongfei Fu
doaj   +1 more source

Control System for the Navigation of the Agricultural Robots: A Review

Journal of Field Robotics, EarlyView.
ABSTRACT Control systems for the navigation of autonomous agricultural robots—particularly those operating in uneven terrain and in the presence of static or dynamic obstacles—have advanced considerably in recent years. As conventional machinery evolves toward increasingly automated systems, the design of reliable navigation controllers has become ...
Edna Carolina Moriones Polanía, Hugo Rafacho Fernandes, Daniel Albiero, Angel Pontin Garcia   +3 more
wiley   +1 more source

Outracing a National Level Model Racing Car Champion: A Hybrid Model‐Based Data‐Driven Approach

Journal of Field Robotics, EarlyView.
ABSTRACT This paper discusses lap time optimization, focusing on a single lap without considering opponents in autonomous racing. The paper presents a control and optimization architecture composed of a model‐based low level controller and a higher level iterative learning algorithm with the goal of obtaining the fastest qualifying lap in autonomous ...
Mustafa Alp, Matteo Corno, Giulio Panzani, Sergio Matteo Savaresi   +3 more
wiley   +1 more source