Utilize este identificador para referenciar este registo:
https://hdl.handle.net/10216/115901
Autor(es): | Rui Gomes Fernando Lobo Pereira |
Título: | A General Attainable-Set Model Predictive Control Scheme. Application to AUV Operations |
Data de publicação: | 2018-10-15 |
Resumo: | In this article, a Model Predictive Control (MPC) scheme that, by taking advantage of the control problem time invariant ingredients, replaces as much as possible the on-line computational burden of the conventional schemes, by off-line computation, is presented and its asymptotic stability shown. The generated data is stored onboard in look-up tables and recruited and adapted on-line with small computation effort according to the real-time context specified by communicated or sensed data. This scheme is particularly important to the increasing range of applications exhibiting severe real-time constraints. The approach presented here provides a better re-conciliation of onboard resources optimization with state feedback control - to deal with the typical a priori high uncertainty - while managing the formation with a low computational budget which otherwise might have a significant impact in power consumption. |
URI: | https://hdl.handle.net/10216/115901 |
Fonte: | IFAC PAPERSONLINE |
Tipo de Documento: | Artigo em Livro de Atas de Conferência Internacional |
Condições de Acesso: | openAccess |
Aparece nas coleções: | FEUP - Artigo em Livro de Atas de Conferência Internacional |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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289703.pdf | CAO 2018 | 603.04 kB | Adobe PDF | Ver/Abrir |
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