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Wyszukujesz frazę "Olaru, S." wg kryterium: Autor


Wyświetlanie 1-2 z 2
Tytuł:
Predictive control for trajectory tracking and decentralized navigation of multi-agent formations
Autorzy:
Prodan, I.
Olaru, S.
Stoica, C.
Niculescu, S. I.
Powiązania:
https://bibliotekanauki.pl/articles/330700.pdf
Data publikacji:
2013
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
multi-agent system
linear system
model predictive control
potential function
polyhedral function
system wieloagentowy
system linearny
sterowanie predykcyjne
funkcja potencjału
Opis:
This paper addresses a predictive control strategy for a particular class of multi-agent formations with a time-varying topology. The goal is to guarantee tracking capabilities with respect to a reference trajectory which is pre-specified for an agent designed as the leader. Then, the remaining agents, designed as followers, track the position and orientation of the leader. In real-time, a predictive control strategy enhanced with the potential field methodology is used in order to derive a feedback control action based only on local information within the group of agents. The main concern is that the interconnections between the agents are time-varying, affecting the neighborhood around each agent. The proposed method exhibits effective performance validated through some illustrative examples.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2013, 23, 1; 91-102
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation
Autorzy:
Xu, F.
Puig, V.
Ocampo-Martinez, C.
Olaru, S.
Niculescu, S. I.
Powiązania:
https://bibliotekanauki.pl/articles/330788.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
fault detection
fault isolation
set theoretic method
fault tolerant control
model predictive control
detekcja uszkodzeń
lokalizacja uszkodzeń
sterowanie tolerujące uszkodzenia
sterowanie predykcyjne
Opis:
In this paper, a fault-tolerant control (FTC) scheme is proposed for actuator faults, which is built upon tube-based model predictive control (MPC) as well as set-based fault detection and isolation (FDI). In the class of MPC techniques, tube-based MPC can effectively deal with system constraints and uncertainties with relatively low computational complexity compared with other robust MPC techniques such as min-max MPC. Set-based FDI, generally considering the worst case of uncertainties, can robustly detect and isolate actuator faults. In the proposed FTC scheme, fault detection (FD) is passive by using invariant sets, while fault isolation (FI) is active by means of MPC and tubes. The active FI method proposed in this paper is implemented by making use of the constraint-handling ability of MPC to manipulate the bounds of inputs. After the system has been detected to become faulty, the input-constraint set of the MPC controller is adjusted to actively excite the system for achieving FI guarantees on-line, where an active FI-oriented input set is designed off-line. In this way, the system can be excited in order to obtain more extra system-operating information for FI than passive FI approaches. Overall, the objective of this paper is to propose an actuator MPC scheme with as little as possible of FI conservatism and computational complexity by combining tube-based MPC and set theory within the framework of MPC, respectively. Finally, a case study is used to show the effectiveness of the proposed FTC scheme.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2017, 27, 1; 43-61
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
    Wyświetlanie 1-2 z 2

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