Centralized and distributed moving horizon strategies for state estimation of networked control systems:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
München
Verl. Dr. Hut
2014
|
| Ausgabe: | 1. Aufl. |
| Schriftenreihe: | Ingenieurwissenschaften
|
| Schlagworte: | |
| Online-Zugang: | kostenfrei https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20140131-1175508-0-0 Inhaltsverzeichnis |
| Beschreibung: | VIII, 242 S. Ill., graph. Darst. |
| ISBN: | 9783843914765 |
Internformat
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| 245 | 1 | 0 | |a Centralized and distributed moving horizon strategies for state estimation of networked control systems |c Peter Philipp |
| 250 | |a 1. Aufl. | ||
| 264 | 1 | |a München |b Verl. Dr. Hut |c 2014 | |
| 300 | |a VIII, 242 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
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| 338 | |b nc |2 rdacarrier | ||
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Datensatz im Suchindex
| _version_ | 1804152002471526400 |
|---|---|
| adam_text | CONTENTS
NOTATION V
I PRELIMINARIES 1
1 INTRODUCTION 3
1.1 CHALLENGES IN NETWORKED CONTROL SYSTEMS 4
1.2 MOVING HORIZON STRATEGIES FOR STATE ESTIMATION 6
1.3 SCOPE OF THE THESIS 9
1.4 OUTLINE AND CONTRIBUTIONS OF THE THESIS 10
2 PRELIMINARIES 17
2.1 MOVING HORIZON STRATEGIES FOR STATE ESTIMATION 17
2.1.1 DYNAMIC MODELS . 17
2.1.2 BATCH STATE ESTIMATOR 19
2.1.3 MOVING HORIZON ESTIMATOR 20
2.1.4 MOVING HORIZON OBSERVER 24
2.2 OBSERVABILITY OF DISCRETE-TIME NONLINEAR SYSTEMS 25
2.3 OVERVIEW OF SOLUTION METHODS FOR OPTIMAL STATE ESTIMATION PROBLEMS
.... 26
2.3.1 HAMILTON-JACOBI-BELLMAN EQUATION & DYNAMIC PROGRAMMING 27
2.3.2 INDIRECT METHODS 28
2.3.3 DIRECT METHODS 30
2.4 OPTIMIZATION 34
2.4.1 DEFINITIONS 34
2.4.2 UNCONSTRAINED OPTIMIZATION 36
2.4.3 CONSTRAINED OPTIMIZATION 42
2.4.4 DECOMPOSITION METHODS 48
2.5 DERIVATIVE CALCULATION 50
2.6 GRAPHS 53
HTTP://D-NB.INFO/1049550102
II CONTENTS
II CENTRALIZED MOVING HORIZON STRATEGIES 57
3 CENTRALIZED MOVING HORIZON STRATEGIES 59
3.1 PROBLEM FORMULATION 59
3.2 BUFFER DESIGN 63
3.3 CLOCK MODEL 65
3.4 UPDATE STEP OF THE CENTRALIZED MOVING HORIZON OBSERVER 67
3.5 UPDATE STEP OF THE CENTRALIZED MOVING HORIZON ESTIMATOR 70
3.6 CHOICE OF THE INITIAL CONDITIONS 74
3.6.1 INITIAL CONDITIONS FOR THE CLOCK PARAMETERS: METHOD 1 76
3.6.2 INITIAL CONDITIONS FOR THE CLOCK PARAMETERS: METHOD 2 77
3.6.3 ILLUSTRATION AND COMPARISON OF METHOD 1 AND METHOD 2 77
3.7 PREDICTION STEP 78
3.8 PARAMETER ESTIMATION 79
3.9 OVERALL ALGORITHM 80
3.10 SUMMARY 81
4 EFFICIENT DERIVATIVE CALCULATION 83
4.1 PROBLEM FORMULATION 84
4.2 GRADIENT OF THE LAGRANGIAN FOR THE CENTRALIZED MOVING HORIZON
OBSERVER ... 85
4.3 GRADIENT OF THE LAGRANGIAN FOR THE CENTRALIZED MOVING HORIZON
ESTIMATOR . . 88
4.4 HESSIAN OF THE LAGRANGIAN FOR THE CENTRALIZED MOVING HORIZON
OBSERVER .... 95
4.5 HESSIAN OF THE LAGRANGIAN FOR THE CENTRALIZED MOVING HORIZON
ESTIMATOR ... 97
4.6 NUMERICAL CASE STUDY 99
4.7 SUMMARY 101
5 OBSERVABILITY OF NETWORKED CONTROL SYSTEMS 103
5.1 PROBLEM FORMULATION 104
5.2 OBSERVABILITY OF UNDISTURBED NETWORKED CONTROL SYSTEMS 104
5.2.1 DEFINITIONS 104
5.2.2 A NECESSARY CONDITION FOR EXTENDED N+L EXCITATION 106
5.3 OBSERVABILITY OF DISTURBED NETWORKED CONTROL SYSTEMS 109
5.3.1 DEFINITIONS 109
5.3.2 A NECESSARY CONDITION FOR EXTENDED N+L EXCITATION 110
5.4 RELATION OF OBSERVABILITY OF NETWORKED CONTROL SYSTEMS TO OTHER
QUANTITIES . 114
5.4.1 RELATION TO THE KALMAN OBSERVABILITY MATRIX 114
5.4.2 RELATION TO THE UPDATE STEP 115
5.4.3 RELATION TO THE GRADIENT AND HESSIAN OF THE LAGRANGIAN 118
5.5 EXAMPLES 119
5.5.1 LINEAR NETWORKED CONTROL SYSTEM: THE UNDISTURBED GENERAL CASE . .
. 119
5.5.2 LINEAR NETWORKED CONTROL SYSTEM: AN UNDISTURBED EXAMPLE 120
CONTENTS III
5.5.3 NONLINEAR NETWORKED CONTROL SYSTEM: THE NETWORKED PENDULUM . . .
123
5.6 SUMMARY 124
6 STABILITY ANALYSIS 125
6.1 PROBLEM FORMULATION 126
6.2 GRADIENT BASED OPTIMIZATION ALGORITHMS REVISITED 126
6.3 OUTLINE OF THE STABILITY ANALYSIS 129
6.4 STABILITY ANALYSIS OF THE CENTRALIZED MOVING HORIZON OBSERVER 130
6.5 STABILITY ANALYSIS OF THE CENTRALIZED MOVING HORIZON ESTIMATOR 136
6.6 SUMMARY 146
7 SIMULATION AND EXPERIMENTAL RESULTS 147
7.1 NETWORKED NONLINEAR BENCHMARK SYSTEM 147
7.1.1 SIMULATION SETUP 148
7.1.2 SIMULATION RESULTS 149
7.2 NETWORKED PENDULUM 153
7.2.1 PENDULUM TEST RIG 154
7.2.2 EQUATIONS OF MOTION 154
7.2.3 FEEDFORWARD CONTROLLER 156
7.2.4 FEEDBACK CONTROLLER 158
7.2.5 CENTRALIZED MOVING HORIZON ESTIMATOR 160
7.2.6 EXPERIMENTAL RESULTS 162
7.3 SUMMARY 165
8 CONCLUSIONS AND FUTURE WORK 167
8.1 SUMMARY 167
8.2 FUTURE WORK 170
III DISTRIBUTED MOVING HORIZON STRATEGIES 173
9 DISTRIBUTED MOVING HORIZON STRATEGIES 175
9.1 PROBLEM FORMULATION 176
9.2 FROM CENTRALIZED TO DISTRIBUTED MOVING HORIZON STRATEGIES 179
9.3 OVERALL ALGORITHM 190
9.4 STABILITY ANALYSIS 192
9.4.1 GENERAL CASE: WEAKLY CONNECTED DIRECTED COMMUNICATION GRAPH . . .
192
9.4.2 SPECIAL CASE: COMPLETE DIRECTED COMMUNICATION GRAPH 193
9.5 SPECIAL CASE: DISTRIBUTED KALMAN FILTER 194
9.6 EXTENSIONS 196
9.6.1 LINEAR TIME-VARIANT SYSTEM AND MEASUREMENT MODEL 196
IV
CONTENTS
9.G.2 STATE AND DISTURBANCE CONSTRAINTS
9.6.3 NON-IDEAL NETWORK
9.7 SUMMARY
10 SIMULATION RESULTS
10.1 SIMULATION SETUP
10.2 SIMULATION RESULTS
10.2.1 DISTRIBUTED MOVING HORIZON OBSERVER
10.2.2 DISTRIBUTED MOVING HORIZON ESTIMATOR
10.2.3 COMPARISON BETWEEN THE DISTRIBUTED MOVING HORIZON STRATEGIES . .
. .
10.3 SUMMARY
11 CONCLUSIONS AND FUTURE WORK
11.1 SUMMARY
11.2 FUTURE WORK
A BACKGROUND MATERIAL
B DERIVATIVES OF A SPECIFIC FUNCTION
C CONTINUOUS-DISCRETE EXTENDED KALMAN FILTER
LIST OF FIGURES
LIST OF TABLES
LIST OF ALGORITHMS
197
198
200
203
203
206
206
207
208
210
211
211
212
215
219
221
223
227
229
BIBLIOGRAPHY
231
|
| any_adam_object | 1 |
| author | Philipp, Peter |
| author_facet | Philipp, Peter |
| author_role | aut |
| author_sort | Philipp, Peter |
| author_variant | p p pp |
| building | Verbundindex |
| bvnumber | BV041723246 |
| classification_rvk | ZQ 5200 |
| classification_tum | MSR 710d MSR 632d |
| collection | ebook |
| ctrlnum | (OCoLC)876384309 (DE-599)BVBBV041723246 |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. Aufl. |
| format | Thesis Book |
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| record_format | marc |
| series2 | Ingenieurwissenschaften |
| spelling | Philipp, Peter Verfasser aut Centralized and distributed moving horizon strategies for state estimation of networked control systems Peter Philipp 1. Aufl. München Verl. Dr. Hut 2014 VIII, 242 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Ingenieurwissenschaften Zugl.: München, Techn. Univ., Diss., 2014 Zustandsschätzung (DE-588)4129826-3 gnd rswk-swf Nichtlineares dynamisches System (DE-588)4126142-2 gnd rswk-swf Kalman-Filter (DE-588)4130759-8 gnd rswk-swf Regelungssystem (DE-588)4134712-2 gnd rswk-swf Lineares dynamisches System (DE-588)4167727-4 gnd rswk-swf Optimierungsproblem (DE-588)4390818-4 gnd rswk-swf Rechnernetz (DE-588)4070085-9 gnd rswk-swf Zustandsbeobachter (DE-588)4139505-0 gnd rswk-swf Paketvermittlung (DE-588)4173101-3 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Zustandsbeobachter (DE-588)4139505-0 s Lineares dynamisches System (DE-588)4167727-4 s Nichtlineares dynamisches System (DE-588)4126142-2 s Regelungssystem (DE-588)4134712-2 s Rechnernetz (DE-588)4070085-9 s Paketvermittlung (DE-588)4173101-3 s Zustandsschätzung (DE-588)4129826-3 s Optimierungsproblem (DE-588)4390818-4 s Kalman-Filter (DE-588)4130759-8 s DE-604 Erscheint auch als Online-Ausgabe urn:nbn:de:bvb:91-diss-20140131-1175508-0-0 http://mediatum.ub.tum.de/node?id=1175508 Verlag kostenfrei Volltext https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20140131-1175508-0-0 Resolving-System DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027170174&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Philipp, Peter Centralized and distributed moving horizon strategies for state estimation of networked control systems Zustandsschätzung (DE-588)4129826-3 gnd Nichtlineares dynamisches System (DE-588)4126142-2 gnd Kalman-Filter (DE-588)4130759-8 gnd Regelungssystem (DE-588)4134712-2 gnd Lineares dynamisches System (DE-588)4167727-4 gnd Optimierungsproblem (DE-588)4390818-4 gnd Rechnernetz (DE-588)4070085-9 gnd Zustandsbeobachter (DE-588)4139505-0 gnd Paketvermittlung (DE-588)4173101-3 gnd |
| subject_GND | (DE-588)4129826-3 (DE-588)4126142-2 (DE-588)4130759-8 (DE-588)4134712-2 (DE-588)4167727-4 (DE-588)4390818-4 (DE-588)4070085-9 (DE-588)4139505-0 (DE-588)4173101-3 (DE-588)4113937-9 |
| title | Centralized and distributed moving horizon strategies for state estimation of networked control systems |
| title_auth | Centralized and distributed moving horizon strategies for state estimation of networked control systems |
| title_exact_search | Centralized and distributed moving horizon strategies for state estimation of networked control systems |
| title_full | Centralized and distributed moving horizon strategies for state estimation of networked control systems Peter Philipp |
| title_fullStr | Centralized and distributed moving horizon strategies for state estimation of networked control systems Peter Philipp |
| title_full_unstemmed | Centralized and distributed moving horizon strategies for state estimation of networked control systems Peter Philipp |
| title_short | Centralized and distributed moving horizon strategies for state estimation of networked control systems |
| title_sort | centralized and distributed moving horizon strategies for state estimation of networked control systems |
| topic | Zustandsschätzung (DE-588)4129826-3 gnd Nichtlineares dynamisches System (DE-588)4126142-2 gnd Kalman-Filter (DE-588)4130759-8 gnd Regelungssystem (DE-588)4134712-2 gnd Lineares dynamisches System (DE-588)4167727-4 gnd Optimierungsproblem (DE-588)4390818-4 gnd Rechnernetz (DE-588)4070085-9 gnd Zustandsbeobachter (DE-588)4139505-0 gnd Paketvermittlung (DE-588)4173101-3 gnd |
| topic_facet | Zustandsschätzung Nichtlineares dynamisches System Kalman-Filter Regelungssystem Lineares dynamisches System Optimierungsproblem Rechnernetz Zustandsbeobachter Paketvermittlung Hochschulschrift |
| url | http://mediatum.ub.tum.de/node?id=1175508 https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20140131-1175508-0-0 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027170174&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT philipppeter centralizedanddistributedmovinghorizonstrategiesforstateestimationofnetworkedcontrolsystems |