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Parallel Model Predictive Control for Constrained Linear Systems
Naoyuki Hara,Yoshiki Kagitani,Keiji Konishi 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper considers a parallel model predictive control (MPC) for input constrained linear systems. A dual of an optimization problem in MPC is decomposed into sub-problems, which can be solved in parallel. The proposed parallel MPC is demonstrated in numerical simulation.
Compensation law for constrained systems based on a decomposition of finite-horizon linear systems
Naoyuki Hara,Hideki Kokame,Keiji Konishi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper considers a compensation law for constrained continuous-time linear systems. We introduce singular value decomposition(SVD) offinite-horizon linear systems and provide a compensation law which satisfies system constraints based on the SVD. The SVD allows us to construct basis functions consisting of dominant input-output signals where an auxiliary dynamical system is newly introduced so that it generates useful basis functions. The properties of the resulting system with compensation law are discussed, and the features of the proposed method are demonstrated by numerical examples.
Primal Formulation of Parallel Model Predictive Control
Naoyuki Hara,Keiji Konishi 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper shows a method for decomposing a QP (quadratic programming) problem arising from linear model predictive control to small subproblems. The subproblems have the form of QP problems and they can be solved in parallel. The solution of the original QP problem is obtained by solving the subproblems iteratively. The distinct feature compared to the previous work is that the subproblems are directly formulated as modified finite horizon optimal control problems.
Analysis of input-output characteristics of boundary value linear systems
Yoshiki Kagitani,Naoyuki Hara,Keiji Konishi 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper considers an eigenvalue problem of boundary value systems. A method for calculating the eigenvalues and eigenvectors is derived. The method is applied to an inverted mobile robot and its basic properties are investigated by simulation and experiment.
Koki Kakita,Naoyuki Hara,Keiji Konishi 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
Floating offshore wind turbines have attracted interest in recent years. In floating offshore wind turbines, generator output fluctuation and platform motions are caused by the variation of wind and waves. In this paper, a PI control in collective blade pitch control is used to suppress the fluctuation and motions, and PI controller gains are tuned by the FRIT (Fictitious Reference Iterative Tuning) method. We show that the tuned PI controller improves the disturbance suppression performance.
Flavien Thiery,Naoyuki Hara,Keiji Konishi 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In floating offshore wind turbines, the platform motions induced by wind and wave conditions should be reduced to mitigate fatigue load on wind turbine components and decrease cost efficiency. This paper considers an individual blade pitch angle control of floating offshore wind turbines using model predictive control (MPC) with failure compensation to improve controller performance in case of failure on a blade pitch actuator. The proposed MPC controller is demonstrated in numerical simulation using FAST, a high-fidelity aero-elastic simulator.