書誌事項
- タイトル別名
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- Model Predictive Control of Continuous-time Piecewise Affine Systems and Its Precomputation-based Implementation
抄録
This paper deals with model predictive control of continuous-time piecewise affine (CTPWA) systems. First, the finite-horizon optimal control problem of CTPWA systems is reduced, with certain suboptimality, to the optimization problem of mode sequences and intermediate state sequences. Next, an implementation method based on a precomputation technique is proposed. In the offline phase, this method computes, for every mode sequence, the set of feasible initial states and a lower bound of the cost function associated with it. Then at each sampling time in the online phase, the controller determines the optimal mode sequence and the optimal intermediate state sequence over a prediction horizon, taking advantage of the precomputed information. By effectively distributing the computation over the offline phase and the online phase, real-time control is achieved, striking a good balance between the amount of precomputed data and the online computation time. The effectiveness of the proposed method has been evaluated with a simple exapmle of CTPWA systems by numerical simulations.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 43 (6), 500-505, 2007
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390001204502478848
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- NII論文ID
- 130003971650
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- ISSN
- 18838189
- 04534654
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- データソース種別
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- JaLC
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可