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Robust Multi-model Predictive Control Using LMIs
Sorin Olaru,Paola Falugi,Didier Dumur 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.1
This paper proposes a novel synthesis technique for robust predictive control of constrained nonlinear systems based on linear matrix inequalities (LMIs) formalism. Local discrete-time polytopic models are exploited for prediction of the system behavior. This design strategy can be applied to nonlinear systems provided a suitable embedding is available. The devised procedure guarantees constraint satisfaction and asymptotic stability. The proposed result extends previous works by handling less conservative input constraints and exploiting the different local descriptions of nonlinearity and uncertainty. The multi-model prediction together with the modified input constraints show significant improvements in terms of closed-loop performance and estimation of the feasibility domain.
Collision avoidance and path following for multi-agent dynamical systems
Ionela Prodan,Sorin Olaru,Cristina Stoica,Silviu-Iulian Niculescu 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper deals with collision avoidance problems while following an optimal trajectory for a group of agents operating in open space. The basic idea is to use the Model Predictive Control (MPC) technique to solve a realtime optimization problem with non-convex constraints over a finite time horizon. Both centralized and decentralized MPC formulations are presented. In a second stage it is shown that velocity constraints can be added to the collision avoidance restrictions in the optimization problem. Following a specified trajectory, the agents move in the same direction and end up eventually in a particular formation. A primer ingredient in the control design is the generation of a flat trajectory, planned in the physical open space. This allows the agents to maneuver successfully in a dynamic environment and to reach a common objective.
Patchy approximate explicit model predictive control
Nguyen Hoai Nam,Sorin Olaru,Morten Hovd 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Multiparametric quadratic programming (MPQP) can be used to construct an off-line solution to constrained linear model predictive control. The result is a piecewise linear state feedback defined over polyhedral cells of the state space. However, with high dimensional problems, coding and implementation of this solution may be very burdensome for the available hardware, due to the high number of polyhedral cells in the state space partition. In this paper we provide an algorithm to find an approximate solution to MPQP, which is obtained by linear interpolation of the exact solution at the vertices of a feasible set and the solution of linear quadratic(LQ) problem. Based on a patchy control technique, we assure robust closed loop stability in the presence of additive measurement noise despite the presence of discontinuities at the switch between the regions in the state space partition.
Bogdan Liacu,Cesar Mendez-Barrios,Silviu-Iulian Niculescu,Sorin Olaru 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper addresses the “rade-off” between transparency and stability of some specific bilateral teleoperation systems including communication time-delays. Using a geometric approach, we derive a simple method to study the fragility of the proposed controller for a general 4-channel architecture for bilateral teleoperation with time-delays such that the closed-loop stability as well as the transparency are guaranteed for the overall scheme. Illustrative examples complete the presentation.
Performance enhancement through parameter optimization for a rechargeable zinc-air flow battery
Ramin Khezri,Amir Parnianifard,Shiva Rezaei Motlagh,Mohammad Etesami,Woranunt Lao-atiman,Ali Abbasi,Amornchai Arpornwichanop,Ahmad Azmin Mohamad,Sorin Olaru,Soorathep Kheawhoma 한국공업화학회 2022 Journal of Industrial and Engineering Chemistry Vol.115 No.-
Owing to their large specific energy density and eco-friendliness, zinc-air batteries (ZABs) are seen to bepotential large-scale rechargeable batteries. In recent years, numerous attempts have been made todevelop zinc-air flow batteries (ZAFBs) with the premise that a flowing electrolyte can alleviate the shortcomingsof zinc electrodes. Herein, the effects of electrolyte flow rate, current density, initial ZnO concentration,and electrolyte temperature on the performance and efficiency of a ZAFB are systematicallyexplored. In addition, the paper discusses the morphological evolution of a zinc electrode with respectto different levels of parameters as well as gravity. Optimal parameters are determined by employinga combination of orthogonal array (OA) sampling and response surface methodology. Results demonstratethat a two-factor interaction regression model can effectively predict actual results with quitean acceptable accuracy. Applying optimal conditions, the battery obtains 99.27 % charge efficiency,97.65 % discharge efficiency, 73.52 % overall round-trip efficiency, and charge and discharge overpotentialsas low as 0.36 V and 0.09 V, respectively. The optimized ZAFB is able to attain superior performancewith enhanced round-trip efficiency, making it appropriate for large-scale development.