Verfügbarkeit: Relaxed barrier function based model predictive control

Relaxed barrier function based model predictive control: theory and algorithms

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Bibliographische Detailangaben
1. Verfasser:	Feller, Christian (VerfasserIn)
Format:	Abschlussarbeit Buch
Sprache:	English
Veröffentlicht:	Berlin Logos Verlag Berlin GmbH [2017]
Schlagworte:	Methode der logarithmischen Barriere Lineares System Modellprädiktive Regelung Folgeregelung Autonomes Fahrzeug Zeitdiskretes System Universität Stuttgart Hochschulschrift
Online-Zugang:	Inhaltsverzeichnis Inhaltstext Inhaltsverzeichnis
Beschreibung:	xiii, 261 Seiten 21 cm
ISBN:	9783832545444 3832545441

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Datensatz im Suchindex

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adam_text	TABLE OF CONTENTS ABSTRACT XI DEUTSCHE KURZFASSUNG XIII 1 INTRODUCTION 1 2 BACKGROUND 9 2.1 MODEL PREDICTIVE C O N TRO L.................................................................................... 9 2.2 BARRIER FUNCTION METHODS FOR CONVEX O PTIM IZATION ........................................ 15 2.3 BARRIER FUNCTION BASED MODEL PREDICTIVE C O N TR O L ........................................... 22 2.4 CHAPTER REFLECTION............................................................................................... 30 3 RELAXED BARRIER FUNCTION BASED MFC THEORY 31 3.1 PROBLEM SETUP AND CHAPTER O U TLIN E .................................................................. 31 3.2 RELAXED LOGARITHMIC BARRIER FU N C TIO N S ............................................................. 33 3.3 THE RELAXED BARRIER FUNCTION BASED MFC P RO B LE M ........................................ 38 3.4 STABILITY OF THE CLOSED-LOOP S Y S TE M .................................................................. 40 3.5 SATISFACTION OF INPUT AND STATE CO N STRAIN TS....................................................... 63 3.6 ROBUSTNESS PROPERTIES AND OUTPUT FEEDBACK.................................................... 71 3.7 AN OUTLOOK ON RELAXED BARRIER FUNCTION BASED N M P C ................................... 88 3.8 CHAPTER REFLECTION............................................................................................... 90 4 RELAXED BARRIER FUNCTION BASED MFC ALGORITHMS 93 4.1 PROBLEM SETUP AND CHAPTER O U TLIN E .................................................................. 93 4.2 PROPERTIES OF THE UNDERLYING OPTIMIZATION P R O B LE M ...................................... 96 4.3 STABILIZING ITERATION SCHEMES AND ANYTIME MPC A LG O R ITH M S ....................... 101 4.4 ANYTIME MPC ALGORITHMS EXPLOITING SP ARSITY ................................................. 122 4.5 CONTINUOUS-TIME MPC A LG O RITH M S .................................................................. 144 4.6 CHAPTER REFLECTION............................................................................................... 147 5 EXPERIMENTAL CASE STUDY: PREDICTIVE CONTROL OF A SELF-DRIVING CAR 149 5.1 PROBLEM SETUP AND CHAPTER O U TLIN E .................................................................. 149 5.2 KINEMATIC VEHICLE M O D E L.................................................................................... 150 5.3 A MODIFIED BARRIER FUNCTION BASED MPC ALGORITHM ...................................... 152 5.4 NUMERICAL SIM ULATIONS....................................................................................... 155 5.5 EXPERIMENTAL R E S U L T S ......................................................................................... 158 5.6 CHAPTER REFLECTION............................................................................................... 161 6 CONCLUSIONS 163 A STABILITY OF DISCRETE-TIME SYSTEMS 169 A.I STABILITY OF AUTONOMOUS S Y S TE M S ...................................................................... 169 A. 2 INPUT-TO-STATE S TA B ILITY .................................................................................. 171 B AUXILIARY RESULTS 175 B. I AN EXAMPLE FOR A SELF-CONCORDANT BARRIER FU N C TIO N ................................... 175 B.2 A QUADRATIC UPPER BOUND FOR SELF-CONCORDANT BARRIER FU N C TIO N S .................. 176 B.3 WEIGHT RECENTERED LOGARITHMIC BARRIER FU N C TIO N S ............................................ 176 B.4 BARRIER FUNCTION BASED MFC WITH GENERALIZED TERMINAL SETS ........................ 177 B.Z CONSTRUCTIVE DESIGN OF ELLIPSOIDAL AND POLYTOPIC TERMINAL S E T S .................... 180 B.6 THE FINITE-HORIZON LQR PROBLEM WITH ZERO TERMINAL STATE CONSTRAINT .... 192 B.7 CONTINUITY OF BARRIER FUNCTION BASED SOLUTIONS WITH ZERO TERMINAL STATE . . . 193 B.8 AN ALGORITHM TO COMPUTE A SUITABLE RELAXATION PARAMETER .......................... 194 B.9 VECTOR FORMULATION OF THE OPEN-LOOP OPTIMAL CONTROL P RO B LE M .................... 195 B. 10 A STEP SIZE BOUND FOR NEWTON S METHOD WITH BACKTRACKING ................... 197 C TECHNICAL PROOFS 199 C. I PROOF OF THEOREM 2 . 3 ...................................................................................... 199 C.2 PROOF OF LEMMA 3 .1 ............................................................................................. 200 C.3 PROOF OF THEOREM 3 . 1 .......................................................................................... 200 C.4 PROOF OF LEMMA 3 .2 ............................................................................................. 202 C.5 PROOF OF THEOREM 3 . 2 .......................................................................................... 203 C.6 PROOF OF LEMMA 3 .3 ............................................................................................. 204 C.7 PROOF OF THEOREM 3 . 3 .......................................................................................... 204 C.8 PROOF OF THEOREM 3 . 4 .......................................................................................... 205 C.9 PROOF OF LEMMA 3 .5 ............................................................................................. 206 C.10 PROOF OF THEOREM 3 . 3 .......................................................................................... 206 C.11 PROOF OF THEOREM 3 . 6 .......................................................................................... 209 C.12 PROOF OF THEOREM 3 . 7 .......................................................................................... 211 C.13 PROOF OF LEMMA 3 .6 ............................................................................................. 213 C.14 PROOF OF THEOREM 3 . 8 .......................................................................................... 214 C.13 PROOF OF LEMMA 3 .8 ............................................................................................. 213 C.16 PROOF OF THEOREM 3 . 9 .......................................................................................... 217 C.17 PROOF OF LEMMA 3 .9 ............................................................................................. 217 C. 18 PROOF OF THEOREM 4 . 1 .......................................................................................... 220 C. 19 PROOF OF THEOREM 4 . 2 .......................................................................................... 224 C.20 PROOF OF THEOREM 4 . 3 .......................................................................................... 224 C.21 PROOF OF THEOREM 4 . 4 .......................................................................................... 225 C.22 PROOF OF THEOREM 4 . 5 .......................................................................................... 227 C.23 PROOF OF THEOREM 4 . 6 .......................................................................................... 230 C.24 PROOF OF THEOREM 4 . 7 .......................................................................................... 230 C.23 PROOF OF LEMMA 4 .1 ............................................................................................. 232 C.26 PROOF OF THEOREM 4 . 8 .......................................................................................... 233 C.27 PROOF OF THEOREM 4 . 9 .......................................................................................... 237 C.28 PROOF OF THEOREM 4 . 1 0 ....................................................................................... 239 C.29 PROOF OF THEOREM 4 . 1 1 ....................................................................................... 243 C.30 PROOF OF THEOREM 4 . 1 2 ....................................................................................... 244 NOTATION 247 BIBLIOGRAPHY 249
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author	Feller, Christian
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discipline	Maschinenbau / Maschinenwesen Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik
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spelling	Feller, Christian Verfasser (DE-588)1140439014 aut Relaxed barrier function based model predictive control theory and algorithms vorgelegt von Christian Feller Berlin Logos Verlag Berlin GmbH [2017] xiii, 261 Seiten 21 cm txt rdacontent n rdamedia nc rdacarrier Dissertation Universität Stuttgart 2017 Methode der logarithmischen Barriere (DE-588)4749201-6 gnd rswk-swf Lineares System (DE-588)4125617-7 gnd rswk-swf Modellprädiktive Regelung (DE-588)1135937567 gnd rswk-swf Folgeregelung (DE-588)4398913-5 gnd rswk-swf Autonomes Fahrzeug (DE-588)7714938-5 gnd rswk-swf Zeitdiskretes System (DE-588)4127297-3 gnd rswk-swf Universität Stuttgart (DE-588)4113937-9 Hochschulschrift gnd-content Modellprädiktive Regelung (DE-588)1135937567 s Methode der logarithmischen Barriere (DE-588)4749201-6 s Zeitdiskretes System (DE-588)4127297-3 s Lineares System (DE-588)4125617-7 s Folgeregelung (DE-588)4398913-5 s Autonomes Fahrzeug (DE-588)7714938-5 s DE-604 Logos Verlag Berlin (DE-588)1065538812 pbl B:DE-101 application/pdf http://d-nb.info/1138579734/04 Inhaltsverzeichnis X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=d978d6497cb74c10a944298b2714fffc&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=030318178&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis
spellingShingle	Feller, Christian Relaxed barrier function based model predictive control theory and algorithms Methode der logarithmischen Barriere (DE-588)4749201-6 gnd Lineares System (DE-588)4125617-7 gnd Modellprädiktive Regelung (DE-588)1135937567 gnd Folgeregelung (DE-588)4398913-5 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd Zeitdiskretes System (DE-588)4127297-3 gnd
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title	Relaxed barrier function based model predictive control theory and algorithms
title_auth	Relaxed barrier function based model predictive control theory and algorithms
title_exact_search	Relaxed barrier function based model predictive control theory and algorithms
title_full	Relaxed barrier function based model predictive control theory and algorithms vorgelegt von Christian Feller
title_fullStr	Relaxed barrier function based model predictive control theory and algorithms vorgelegt von Christian Feller
title_full_unstemmed	Relaxed barrier function based model predictive control theory and algorithms vorgelegt von Christian Feller
title_short	Relaxed barrier function based model predictive control
title_sort	relaxed barrier function based model predictive control theory and algorithms
title_sub	theory and algorithms
topic	Methode der logarithmischen Barriere (DE-588)4749201-6 gnd Lineares System (DE-588)4125617-7 gnd Modellprädiktive Regelung (DE-588)1135937567 gnd Folgeregelung (DE-588)4398913-5 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd Zeitdiskretes System (DE-588)4127297-3 gnd
topic_facet	Methode der logarithmischen Barriere Lineares System Modellprädiktive Regelung Folgeregelung Autonomes Fahrzeug Zeitdiskretes System Hochschulschrift
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work_keys_str_mv	AT fellerchristian relaxedbarrierfunctionbasedmodelpredictivecontroltheoryandalgorithms AT logosverlagberlin relaxedbarrierfunctionbasedmodelpredictivecontroltheoryandalgorithms

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