Robust and Multi-Objective Model Predictive Control Design for Nonlinear Systems
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Notice bibliographique
Résumé
The multi-objective trade-off paradigm has become a very valuable design tool in engineering problems that have conflicting objectives. Recently, many control designers have worked on the design methods which satisfy multiple design specifications called multi-objective control design. However,the main challenge posed for the MPC design lies in the high computation load preventing its application to the fast dynamic system control in real-time. To meet this challenge, this thesis has proposed several methods covering nonlinear system modeling, on-line MPC design and multi-objective optimization. First, the thesis has proposed a robust MPC to control the shimmy vibration of the landing gear with probabilistic uncertainty. Then, an on-line MPC method has been proposed for image-based visual servoing control of a 6 DOF Denso robot. Finally, a multi-objective MPC has been introduced to allow the designers consider multiple objectives in MPC design. \n \nIn this thesis, Tensor Product (TP) model transformation as a powerful tool in the modeling of the complex nonlinear systems is used to find the linear parameter-varying (LPV) models of the nonlinear systems. Higher-order singular value decomposition (HOSVD) technique is used to obtain a minimal order of the model tensor. Furthermore, to design a robust MPC for nonlinear systems in the presence of uncertainties which degrades the system performance and can lead to instability, we consider the parameters of the nonlinear systems with probabilistic uncertainties in the modeling using TP transformation. In this thesis, a computationally efficient methods for MPC design of image-based visual servoing, i.e. a fast dynamic system has been proposed. The controller is designed considering the robotic visual servoing system's input and output constraints, such as robot physical limitations and visibility constraints. \n \nThe main contributions of this thesis are: (i) design MPC for nonlinear systems with probabilistic uncertainties that guarantees robust stability and performance of the systems; (ii) develop a real-time MPC method for a fast dynamical system; (iii) to propose a new multi-objective MPC for nonlinear systems using game theory. A diverse range of systems with nonlinearities and uncertainties including landing gear system, 6 DOF Denso robot are studied in this thesis. The simulation and real-time experimental results are presented and discussed in this thesis to verify the effectiveness of the proposed methods.
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Prédiction distillée sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,001 | 0,000 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,001 | 0,000 |
| Bibliométrie | 0,001 | 0,000 |
| Études des sciences et des technologies | 0,001 | 0,000 |
| Communication savante | 0,000 | 0,001 |
| Science ouverte | 0,000 | 0,000 |
| Intégrité de la recherche | 0,001 | 0,001 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,000 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découle