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This paper proposes an iterative method for solving non-convex optimization problems which we call sequential convex programming (SCP) and an application of our method to time trajectory planning problem for a car motion. Firstly, we introduce a formulation of the motion of a car along a reference trajectory as an optimal control problem. We use a special convexity based formulation path employing...
A new method is proposed to solve the model inversion problem that is part of model based iterative learning control (ILC) for nonlinear systems. The model inversion problem consists of finding the input signal corresponding to a given output signal. This problem is formulated as a nonlinear dynamic optimization problem in time domain and solved efficiently using a constrained Gauss-Newton algorithm...
Nonlinear model predictive control (NMPC) has proven successful in many applications, especially in chemical and process engineering where sampling times are usually in the order of seconds or minutes. Combustion engines show highly nonlinear behaviour and require sampling times of few milliseconds which poses a challenging control problem. We aim at tracking a desired torque profile of a gasoline...
Aim of this study is to compare two variants of the real-time iteration (RTI) scheme in nonlinear model predictive control (NMPC): the standard RTI scheme as described in M. Deihl (2001) and a new adjoint based RTI scheme as described in H. G. Bock et al. (2004) and L. Wirsching (2006). The authors compare their performance on returning a chain of spring connected masses to its steady state, after...
Nonlinear model predictive control (NMPC) has proven successful in many applications, especially in chemical and process engineering where sampling times are usually in the order of seconds or minutes. Combustion engines show highly nonlinear behaviour and require sampling times of few milliseconds which poses a challenging control problem. We aim at tracking a desired torque profile of a gasoline...
Aim of this study is to compare two variants of the real-time iteration (RTI) scheme in nonlinear model predictive control (NMPC): the standard RTI scheme as described in M. Deihl (2001) and a new adjoint based RTI scheme as described in H. G. Bock et al. (2004) and L. Wirsching (2006). The authors compare their performance on returning a chain of spring connected masses to its steady state, after...
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