Explicit use of probabilistic distributions in robust predictive control of waterborne AGVs-A cost-effective approach

Huarong Zheng; Rudy R. Negenborn; G. Lodewijks

doi:10.1109/ECC.2016.7810465

Explicit use of probabilistic distributions in robust predictive control of waterborne AGVs-A cost-effective approach

Huarong Zheng, Rudy R. Negenborn, G. Lodewijks

Transport Engineering and Logistics

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

3 Citations (Scopus)

Abstract

This paper proposes a novel cost-effective robust Model Predictive Control (RMPC) approach that can handle stochastic uncertainties with infinite support. The robust controller is developed by explicitly considering system and uncertainty properties and is applied to waterborne AGVs against environmental disturbances due to wind, waves, and currents. Specifically, probabilistic distributions are modeled and integrated in tube-based RMPC with optimized uncertainty bounds. Furthermore, successive linearizations of nonlinear system dynamics and non-convex constraints are implemented for ease of computational complexity and the robust design. Simulation results are presented to demonstrate the effectiveness of the proposed approach.

Original language	English
Title of host publication	Proceedings 2016 European Control Conference
Editors	A Rantzer, J Stoustrup, J Bagterp Jorgensen
Place of Publication	Piscataway, NJ, USA
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	1278-1283
ISBN (Electronic)	9781509025916
DOIs	https://doi.org/10.1109/ECC.2016.7810465
Publication status	Published - 2016
Event	2016 European Control Conference, ECC 2016: 15th annual European Control Conference - Aalborg, Denmark Duration: 29 Jun 2016 → 1 Jul 2016 http://www.ecc16.eu/index.shtml

Conference

Conference	2016 European Control Conference, ECC 2016
Abbreviated title	ECC'16
Country/Territory	Denmark
City	Aalborg
Period	29/06/16 → 1/07/16
Internet address	http://www.ecc16.eu/index.shtml

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10.1109/ECC.2016.7810465

Cite this

Zheng, H., Negenborn, R. R., & Lodewijks, G. (2016). Explicit use of probabilistic distributions in robust predictive control of waterborne AGVs-A cost-effective approach. In A. Rantzer, J. Stoustrup, & J. Bagterp Jorgensen (Eds.), Proceedings 2016 European Control Conference (pp. 1278-1283). Article 7810465 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ECC.2016.7810465

Zheng, Huarong ; Negenborn, Rudy R. ; Lodewijks, G. / Explicit use of probabilistic distributions in robust predictive control of waterborne AGVs-A cost-effective approach. Proceedings 2016 European Control Conference. editor / A Rantzer ; J Stoustrup ; J Bagterp Jorgensen. Piscataway, NJ, USA : Institute of Electrical and Electronics Engineers (IEEE), 2016. pp. 1278-1283

@inproceedings{501aaa7455bc454ca710bfe6d3861904,

title = "Explicit use of probabilistic distributions in robust predictive control of waterborne AGVs-A cost-effective approach",

abstract = "This paper proposes a novel cost-effective robust Model Predictive Control (RMPC) approach that can handle stochastic uncertainties with infinite support. The robust controller is developed by explicitly considering system and uncertainty properties and is applied to waterborne AGVs against environmental disturbances due to wind, waves, and currents. Specifically, probabilistic distributions are modeled and integrated in tube-based RMPC with optimized uncertainty bounds. Furthermore, successive linearizations of nonlinear system dynamics and non-convex constraints are implemented for ease of computational complexity and the robust design. Simulation results are presented to demonstrate the effectiveness of the proposed approach.",

author = "Huarong Zheng and Negenborn, {Rudy R.} and G. Lodewijks",

year = "2016",

doi = "10.1109/ECC.2016.7810465",

language = "English",

pages = "1278--1283",

editor = "A Rantzer and J Stoustrup and {Bagterp Jorgensen}, J",

booktitle = "Proceedings 2016 European Control Conference",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "2016 European Control Conference, ECC 2016 : 15th annual European Control Conference, ECC'16 ; Conference date: 29-06-2016 Through 01-07-2016",

url = "http://www.ecc16.eu/index.shtml",

}

Zheng, H, Negenborn, RR & Lodewijks, G 2016, Explicit use of probabilistic distributions in robust predictive control of waterborne AGVs-A cost-effective approach. in A Rantzer, J Stoustrup & J Bagterp Jorgensen (eds), Proceedings 2016 European Control Conference., 7810465, Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, USA, pp. 1278-1283, 2016 European Control Conference, ECC 2016, Aalborg, Denmark, 29/06/16. https://doi.org/10.1109/ECC.2016.7810465

Explicit use of probabilistic distributions in robust predictive control of waterborne AGVs-A cost-effective approach. / Zheng, Huarong; Negenborn, Rudy R.; Lodewijks, G.
Proceedings 2016 European Control Conference. ed. / A Rantzer; J Stoustrup; J Bagterp Jorgensen. Piscataway, NJ, USA: Institute of Electrical and Electronics Engineers (IEEE), 2016. p. 1278-1283 7810465.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AB - This paper proposes a novel cost-effective robust Model Predictive Control (RMPC) approach that can handle stochastic uncertainties with infinite support. The robust controller is developed by explicitly considering system and uncertainty properties and is applied to waterborne AGVs against environmental disturbances due to wind, waves, and currents. Specifically, probabilistic distributions are modeled and integrated in tube-based RMPC with optimized uncertainty bounds. Furthermore, successive linearizations of nonlinear system dynamics and non-convex constraints are implemented for ease of computational complexity and the robust design. Simulation results are presented to demonstrate the effectiveness of the proposed approach.

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Zheng H, Negenborn RR, Lodewijks G. Explicit use of probabilistic distributions in robust predictive control of waterborne AGVs-A cost-effective approach. In Rantzer A, Stoustrup J, Bagterp Jorgensen J, editors, Proceedings 2016 European Control Conference. Piscataway, NJ, USA: Institute of Electrical and Electronics Engineers (IEEE). 2016. p. 1278-1283. 7810465 doi: 10.1109/ECC.2016.7810465

Explicit use of probabilistic distributions in robust predictive control of waterborne AGVs-A cost-effective approach

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