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On Reverse-ordered Implementation of Differential Dynamic Programming for Unconstrained Optimal Control Problem |
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Wonyoung Park, Gyunghoon Park(University of Seoul, Korea) |
| In this paper, we study a reverse-ordered implementation of the DDP algorithm in a sense of the first-FP-second-BP, which brings a structural simplicity of the algorithm. It is seen in simulations for a simple example that this reverse-ordered DDP is able to find the optimal trajectory as the conventional DDP, and often experiences a larger transient or a dynamic exploration, while mathematical analysis for these phenomenons is left to future works. |
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A Study on Robust Stability for Multi-rate Model Predictive Control for Linear Systems with Additive Disturbance |
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Junsoo Kim, Gyunghoon Park(University of Seoul, Korea) |
| In this paper, we discuss a model predictive control (MPC) for a multi-rate discrete-time system with additive unknown disturbance. In the multi-rate setting, it is assumed that state measurement and input update are performed less frequently than the system update, which may lead to instability of the overall system when a disturbance enters the system. We here propose a robust stability-guaranteed design for the multi-rate robust MPC (MR-RMPC), by extending the authors’previous work on disturbance-free version to cases of the uncertain systems. |
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Trajectory Tracking Control of Emergency Supplies Transportation Robot Based on Koopman Operator and ESO-ET-MPC |
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Yaqi Zhang, Minan Tang(Lanzhou Jiaotong University, China), Haiyan Zhang(Jinan New and Old Kinetic Energy Conversion Starting Area Management Committee, China), Wenjuan Wang, Bo An, Yaguang Yan(Lanzhou Jiaotong University, China) |
| The trajectory tracking control of emergency supplies transportation robot is a key technology to ensure the timeliness of transportation. This paper studies the purely data-driven trajectory tracking control problem of emergency supplies transportation robot. Firstly, a high-dimensional linear model of the robot is established using the Koopman operator. Secondly, design ESO to estimate the disturbances during operation. Thirdly, the ET-MPC is used to optimize the control the trajectory tracking of the emergency supplies transportation robot. Finally, a Carsim/ Simulink joint simulation is used to verify the performance of the trajectory tracking controller proposed in this paper. |
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Linear Convergence Rate of Distributed Extragradient Method for Optimization With Different Constraint Sets |
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Ismi Rosyiana Fitri(Universitas Indonesia, Indonesia), Jung-Su Kim(SeoulTech, Korea) |
| A distributed algorithm based on the extragradient method has been exploited to solve a constrained optimization problem such that agents have different local set constraints. Although it is known that the centralized extragradient algorithm converges at a linear rate when the problem is strongly convex, there exists no convergence analysis considering the same problem for the distributed algorithm. Having this, this article aims to study the convergence rate of algorithm when the problem is strongly convex. Under the assumption that the graph is undirected, we show that the algorithm converges linearly to the optimal solution. |
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Multivariable Gain Scheduling Model Predictive Control for Post-Combustion CO2 Capture System |
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An Aimin(Lanzhou University of Technology, China) |
| The model predictive control (MPC) strategy has been successfully applied to the control of Post-combustion CO2 capture (PCC) systems. This paper firstly implements the control requirement of three inputs and two outputs of the system by using a multivariable MPC strategy based on the strong coupling characteristics of the PCC system between multiple variables, and then proposes a model predictive control method based on gain scheduling for the operation of the PCC system with strong nonlinearity in a wide range of operating conditions. |
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