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Authors: Florian Weissel ; Marco F. Huber and Uwe D. Hanebeck

Affiliation: Intelligent Sensor-Actuator-Systems Laboratory, Universität Karlsruhe (TH), Germany

Keyword(s): Nonlinear Model Predictive Control; Stochastic Systems; Nonlinear Estimation.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Formal Methods ; Informatics in Control, Automation and Robotics ; Information-Based Models for Control ; Intelligent Control Systems and Optimization ; Nonlinear Signals and Systems ; Planning and Scheduling ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Simulation and Modeling ; Symbolic Systems ; Time Series and System Modeling ; Vehicle Control Applications

Abstract: In this paper, a framework for Nonlinear Model Predictive Control (NMPC) that explicitly incorporates the noise influence on systems with continuous state spaces is introduced. By the incorporation of noise, which results from uncertainties during model identification and the measurement process, the quality of control can be significantly increased. Since NMPC requires the prediction of system states over a certain horizon, an efficient state prediction technique for nonlinear noise-affected systems is required. This is achieved by using transition densities approximated by axis-aligned Gaussian mixtures together with methods to reduce the computational burden. A versatile cost function representation also employing Gaussian mixtures provides an increased freedom of modeling. Combining the prediction technique with this value function representation allows closed-form calculation of the necessary optimization problems arising from NMPC. The capabilities of the framework and especial ly the benefits that can be gained by considering the noise in the controller are illustrated by the example of a mobile robot following a given path. (More)

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Paper citation in several formats:
Weissel, F.; F. Huber, M. and D. Hanebeck, U. (2007). A CLOSED-FORM MODEL PREDICTIVE CONTROL FRAMEWORK FOR NONLINEAR NOISE-CORRUPTED SYSTEMS. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-972-8865-84-9; ISSN 2184-2809, SciTePress, pages 62-69. DOI: 10.5220/0001625500620069

@conference{icinco07,
author={Florian Weissel. and Marco {F. Huber}. and Uwe {D. Hanebeck}.},
title={A CLOSED-FORM MODEL PREDICTIVE CONTROL FRAMEWORK FOR NONLINEAR NOISE-CORRUPTED SYSTEMS},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2007},
pages={62-69},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001625500620069},
isbn={978-972-8865-84-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A CLOSED-FORM MODEL PREDICTIVE CONTROL FRAMEWORK FOR NONLINEAR NOISE-CORRUPTED SYSTEMS
SN - 978-972-8865-84-9
IS - 2184-2809
AU - Weissel, F.
AU - F. Huber, M.
AU - D. Hanebeck, U.
PY - 2007
SP - 62
EP - 69
DO - 10.5220/0001625500620069
PB - SciTePress