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E-mail deze pagina. Auteur: Thomas J Besselmann.


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Uitgever: Createspace Independent Publishing Platform. Samenvatting The scope of this thesis lies in the field of constrained optimal control. More precisely, it is concerned with the constrained finite-time optimal control of two system classes: piecewise affine systems and linear parameter-varying systems.

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Since the actual computation of hybrid controllers as the explicit solution to parametric CFTOC problems for piecewise affine systems is already rather mature, this part deals with a post-processing algorithm. If the cost function of the CFTOC problem is quadratic, the optimization problem at hand is a parametric mixed-integer quadratic program, which can be solved by decomposing it into a number of quadratic programs. Thereby redundant regions are computed, which increase the storage demand and the online evaluation time of the resulting controller.

We propose a post-processing algorithm for the removal of redundant regions.

Introduction to Linear Quadratic Regulator (LQR) Control

Furthermore, we examine the application of hybrid control methods to two systems: a mechanical system with backlash and autonomous vehicle steering. The second part of this thesis is devoted to constrained optimal control of linear parameter-varying LPV systems. A sequence of dynamic programming procedures is proposed, in order to solve constrained finite-time optimal control problems explicitly for LPV-A systems and for general LPV systems.

Dynamic programming for constrained optimal control of discrete-time linear hybrid systems

Both cases of an arbitrarily varying scheduling parameter and a bounded rate of parameter variation are considered. Likewise, a procedure to solve the constrained time-optimal control problems is proposed, enabling a low-complexity alternative to explicit LPV-MPC with guaranteed stability. It presents a self-contained and clearly written text. The book is an up-to-date reference which will be useful to professionals, researchers, practitioners, and graduate students in control, electrical, and mechanical engineering interested in control design problems for constrained and switching dynamic systems.

Furthermore, all the concepts and algorithms are illustrated with many examples and figures. As such, this book is recommended literature for both students and researchers …. JavaScript is currently disabled, this site works much better if you enable JavaScript in your browser. Mathematics Algebra.

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FAQ Policy. Show all. From the reviews: "The book focuses on two classes of discrete-time dynamical systems, namely constrained linear systems and linear hybrid systems. Table of contents 11 chapters Table of contents 11 chapters Multiparametric Programming: a Geometric Approach Pages Receding Horizon Control Pages Constrained Robust Optimal Control Pages


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