Search results for: Ionela Prodan
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International Journal of Robust and Nonlinear Control > 28 > 15 > 4528 - 4548
The corner cutting avoidance problem is an important but often overlooked part of motion planning strategies. Obstacle and collision avoidance constraints are usually imposed at the sampling time without regards to the intrasample behavior of the agent. Hence, it is possible for an agent to “cut the corner” of an obstacle while apparently respecting the constraints. This paper improves upon state...
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This paper addresses the classical, yet challenging, trajectory generation problem for a particular USV (Unmanned Surface Vehicle) used in environmental monitoring applications. The focus is placed on scenarios which involve reaching a target while remaining in communication with the network. Both isotropic (concentric communication area) and anisotropic (directed communication area) antenna are considered...
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This work presents a potential field-based control approach for multi-agent dynamical systems in a multi-obstacle environment. A strong focus is put on solving the collision avoidance (either with obstacles or other agents) problem, which is essential for any multi-agent control strategy. In here we discuss potential field constructions which are used for penalizing in the cost the collision avoidance...
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This paper deals with the trajectory tracking problem of a quadcopter system through a two-layer optimization-based control strategy. The top layer controller employs the MPC (Model Predictive Control) method making use of the linearized translation dynamics in order to achieve the thrust and the sets of the reference angles. The lower control layer considers a combination of feedback linearization...
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This paper extends some previous work on trajectory generation for UAV (Unmanned Aerial Vehicles) using differential flatness in combination with B-splines parametrization. The originality of this work resides in the geometrical interpretations of the B-splines properties and their use in generating feasible flat trajectories for nonlinear UAV dynamics while ensuring continuous constraint validation...
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This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for trajectory generation and B-splines for the flat output parametrization. Using some important properties of these theoretical tools we show that the constraints can...
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This paper presents an extension of a MPC (Model Predictive Control) approach for microgrid energy management which takes into account electricity costs, power consumption, generation profiles, power and energy constraints as well as uncertainty due to variations in the environment. The approach is based on a coherent framework of control tools, like mixed-integer programming and soft constrained...
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This paper addresses the challenging energy management problem of a DC-microgrid elevator system using a coherent combination between port-Hamiltonian approach for physical system modeling, differential flatness for profiles generation and predictive control for taking into account constraints, optimization costs and reference profiles. The microgrid connected to a three-phase utility grid includes...
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This paper addresses some alternatives to classical trajectory generation for an autonomous vehicle which needs to pass through a priori given way-points. Using differential flatness for trajectory generation and B-splines for the flat output parametrization, the current study concentrates on constraint relaxations and on obstacle avoidance conditions. The results are validated through simulations...
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This paper addresses the problem of fully covering an a priori known environment with fixed obstacles by a mobile agent. The blind region (i.e., the region hidden by the obstacles from the viewpoint of the agent) is described geometrically via both an exact and an over-approximation procedure. It is shown that the structure of this region depends on the hyperplane arrangement originating from the...
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We present an extension of a model predictive control approach for microgrid energy management. We take into account electricity costs, power consumption, generation profiles and power and energy constraints. Uncertainty due to variations in the environment (wind speed), failures and subsequent repairs of the generator, as well as battery lifespan limitations are taken into consideration. Simulation...
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International Journal of Electrical Power and Energy Systems > 2014 > 61 > Complete > 399-409
This paper proposes a framework for reliable microgrid energy management based on receding horizon control. A microgrid is considered for exemplification, connected to an external grid via a transformer and containing a local consumer, a renewable generator (wind turbine) and a storage facility (battery). Optimal scheduling of battery is sought for minimizing costs. To this aim, a predictive control...
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This paper proposes an optimization-based control approach for microgrid energy management. For exemplification of the approach consider a microgrid system connected to an external grid via a transformer and containing a local consumer, a renewable generator (wind turbine) and a storage facility (battery). The objective of minimizing the costs is achieved through a predictive control framework for...
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Control Engineering Practice > 2013 > 21 > 10 > 1334-1349
This paper addresses the implementation of a predictive control strategy for Unmanned Air Vehicles in the presence of bounded disturbances. The goal is to prove the feasibility of such a real-time optimization-based control design and to demonstrate its tracking capabilities for the nonlinear dynamics with respect to a reference trajectory which is pre-specified via differential flatness. In order...
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The present paper addresses the path following problem of nonholonomic systems by considering a predictive control-based framework. The particularity of the present study resides in the use of differential flatness formalism for a reference trajectory generation. Furthermore, having the reference trajectory available in a parameterized form, an optimization-based problem which minimizes the tracking...
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This paper addresses the coverage problem for a collection of agents and fixed obstacles (e.g., the “gallery” and the “patrolling” problems). A collection of sufficient conditions over the positions of the agents are provided such that whenever these are verified there is no “blind” region in the feasible space. These conditions are expressed by making use of hyperplane arrangements which lead to...
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The current paper addresses the problem of minimizing the computational complexity of optimization problems with non-convex and possibly non-connected feasible region of polyhedral type. Using hyperplane arrangements and Mixed-Integer Programming we provide an efficient description of the feasible region in the solution space. Moreover, we exploit the geometric properties of the hyperplane arrangements...
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International Journal of Applied Mathematics and Computer Science > 2013 > 23 > 1 > 91-102
This paper addresses a predictive control strategy for a particular class of multi-agent formations with a time-varying topology. The goal is to guarantee tracking capabilities with respect to a reference trajectory which is pre-specified for an agent designed as the leader. Then, the remaining agents, designed as followers, track the position and orientation of the leader. In real-time, a predictive...
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International Journal of Applied Mathematics and Computer Science > 2013 > 23 > 1 > 91-102
This paper addresses a predictive control strategy for a particular class of multi-agent formations with a time-varying topology. The goal is to guarantee tracking capabilities with respect to a reference trajectory which is pre-specified for an agent designed as the leader. Then, the remaining agents, designed as followers, track the position and orientation of the leader. In real-time, a predictive...
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Journal of Optimization Theory and Applications > 2012 > 154 > 2 > 549-572
This paper is concerned with improvements in constraints handling for mixed-integer optimization problems. The novel element is the reduction of the number of binary variables used for expressing the complement of a convex (polytopic) region. As a generalization, the problem of representing the complement of a possibly not connected union of such convex sets is detailed. In order to illustrate the...
