Optimization-based control for constrained systems with fast dynamics

基于优化的快速动态约束系统控制

• 批准号: 341518-2010
• 负责人: Milman, Ruth
• 金额: $ 1.46万
• 依托单位: University of Ontario Institute of Technology
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2013
• 资助国家: 加拿大
• 起止时间: 2013-01-01 至 2014-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=527338
• 关键词: Optimization; based; control; constrained; systems

The primary objective of this research program is to advance the knowledge and application of optimization- based control for constrained systems with fast dynamics, such as those prevalent in the automotive, robotics and aerospace fields. Although many optimization schemes exist for unconstrained systems, difficulties are encountered when incorporating constraints directly into the problem formulation. Real-time implementation of constrained optimal controllers on fast systems has only recently become a realistic possibility thanks to the advanced computational power of modern computers. My research program aims to develop control algorithms that allow for consistent and practical implementation of constrained optimization schemes on systems with fast dynamics with two key objectives - the advancement of knowledge, and the implementation of control algorithms on relevant industrial systems. The focus of my current research has been the optimization-based model predictive control methodology.

本研究计划的主要目标是推进基于优化控制的快速动力学约束系统的知识和应用，例如在汽车，机器人和航空航天领域流行的系统。尽管存在许多针对无约束系统的优化方案，但在将约束直接纳入问题表述时遇到了困难。由于现代计算机的先进计算能力，在快速系统上实时实现约束最优控制器最近才成为一种现实的可能性。我的研究计划旨在开发控制算法，允许在具有快速动态的系统上一致和实际地实施约束优化方案，具有两个关键目标-知识的进步，以及在相关工业系统上实施控制算法。我目前的研究重点是基于优化的模型预测控制方法。