Tube-based Robust Fault Estimation Integrating Unknown Inputs Decoupling and Set-membership Approach
Sign Up to like & getrecommendations! Published in 2017 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2017.08.639
Abstract: Abstract This paper proposes a novel tube-based robust fault estimation (FE) method for dynamic systems by decoupling unknown inputs and using set-membership approach. FE problems are considered in a novel prospective in this paper. Instead… read more here.
Keywords: fault; estimation; tube; based robust ... See more keywords
Tube-based MPC with Nonlinear Control for Load Transportation using a UAV
Sign Up to like & getrecommendations! Published in 2018 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2018.11.180
Abstract: Abstract This paper presents a two-stage cascade control framework to solve hierarchically the trajectory tracking problem of a Tilt-rotor Unmanned Aerial Vehicle (UAV) carrying a suspended load. Initially, a nonlinear dynamic model is presented, which… read more here.
Keywords: mpc nonlinear; based mpc; control; nonlinear control ... See more keywords
Design and flight experiments of a Tube-Based Model Predictive Controller for the AR.Drone 2.0 quadrotor
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.11.058
Abstract: Abstract This paper focuses on the design, implementation and experimental validation of a Tube-Based Model Predictive Control (TBMPC) law for the stabilization of the horizontal dynamics of an Unmanned Aerial Vehicle (UAV) quadrotor. These dynamics… read more here.
Keywords: model predictive; quadrotor; design; flight ... See more keywords
Tube-based Model Predictive Control for Dynamic Positioning of Marine Vessels
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.12.279
Abstract: Abstract This paper focuses on the design of a robust model predictive control law for dynamic positioning (DP) of marine vessels in the presence of actuator saturation and environmental disturbances. The proposed solution is a… read more here.
Keywords: model predictive; marine vessels; dynamic positioning; predictive control ... See more keywords
Tube-based Anticipative Robust MPC for Systems with Multiplicative Uncertainty
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.463
Abstract: Abstract Many control problems contain time-varying or parameter-varying dynamics. With model predictive control (MPC), it is possible to include known plant variations into the controller for improving control performance. Unfortunately, perfect knowledge of the plant… read more here.
Keywords: robust mpc; control; mpc systems; anticipative robust ... See more keywords
Robust Tube-Based Model Predictive Control for Autonomous Vehicle Path Tracking
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3231443
Abstract: In real-world driving scenarios, the model mismatch can severely impair the robustness of the tracking system controlled by Model Predictive Control (MPC). Tube-based MPC (TMPC) addresses this problem by keeping the model mismatch error in… read more here.
Keywords: tube based; tmpc; control; predictive control ... See more keywords
Tube-Based Control Barrier Function With Integral Quadratic Constraints for Unknown Input Delay
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2023.3278688
Abstract: This letter proposes a Control Barrier Function (CBF)-based controller design to achieve safety for systems subjecting to unknown input delay and additive disturbance. Integral quadratic constraints characterizing the input-output behavior of the unmodeled dynamics caused… read more here.
Keywords: control barrier; barrier function; tube based; input delay ... See more keywords
Robust Tube-Based Predictive Control for Visual Servoing of Constrained Differential-Drive Mobile Robots
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2017.2756595
Abstract: This paper proposes a control strategy for the vision-based control problem of a nonholonomic constrained differential-drive mobile robots with bounded disturbance by using robust tube-based model predictive control (MPC) method. The proposed control strategy mainly… read more here.
Keywords: state; constrained differential; control; differential drive ... See more keywords
Carbon Tube-Based Cathode for Li-CO2 Batteries: A Review
Sign Up to like & getrecommendations! Published in 2022 at "Nanomaterials"
DOI: 10.3390/nano12122063
Abstract: Metal–air batteries are considered the research, development, and application direction of electrochemical devices in the future because of their high theoretical energy density. Among them, lithium–carbon dioxide (Li–CO2) batteries can capture, fix, and transform the… read more here.
Keywords: carbon tube; co2 batteries; carbon; tube based ... See more keywords