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Found 5 essays matching the above criteria.

  1. 1. Trajectory Optimization of Smart City Scenarios Using Learning Model Predictive Control

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Mustafa Al-Janabi; [2023]
    Keywords : LMPC; multi-agent control; Smart City; Data-driven Control; multi-level autonomy; LMPC; smarta städer; multiagentsystem; datadriven reglerteknik;

    Abstract : Smart cities embrace cutting-edge technologies to improve transportation efficiency and safety. With the rollout of 5G and an ever-growing network of connected infrastructure sensors, real-time road condition awareness is becoming a reality. However, this progress brings new challenges. READ MORE

  3. 2. Linearization Based Model Predictive Control of a Diesel Engine with Exhaust Gas Recirculation and Variable-Geometry Turbocharger

    University essay from Linköpings universitet/Fordonssystem

    Author : Jonatan Gustafsson; [2021]
    Keywords : MPC; Model Predictive Control; LMPC; Linearization Based MPC; SLMPC; Successive Linearization Based MPC; Reference Generator; CasADi; EGR; Exhaust Gas Recirculation; VGT; Variable-Geometry Turbocharger; Diesel Engine; Heavy Duty Diesel Engine; Automatic Control; WHTC; World Harmonized Transient Cycle; Direct Multiple Shooting;

    Abstract : Engine control systems aim to ensure satisfactory output performance whilst adhering to requirements on emissions, drivability and fuel efficiency. Model predictive control (MPC) has shown promising results when applied to multivariable and nonlinear systems with operational constraints, such as diesel engines. READ MORE

  4. 3. Learning model predictive control with application to quadcopter trajectory tracking

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Abhishek Maji; [2020]
    Keywords : Data driven; iterative learning control; learning; optimal control; predictive control; Datadriven; iterativ inlärningskontroll; inlärning; optimal kontroll; förutsägbar kontroll;

    Abstract : In thiswork, we develop a learning model predictive controller (LMPC) for energy-optimaltracking of periodic trajectories for a quadcopter. The main advantage of this controller isthat it is “reference-free”. Moreover, the controller is able to improve its performance overiterations by incorporating learning from the previous iterations. READ MORE

  5. 4. Autonomous Overtaking with Learning Model Predictive Control

    University essay from KTH/Optimeringslära och systemteori

    Author : Ivar Bengtsson; [2020]
    Keywords : Autonomous vehicles; Learning Model Predictive Control; Model Predictive Control; Autonoma fordon; Learning Model Predictive Control; Modellprediktiv reglering;

    Abstract : We review recent research into trajectory planning for autonomous overtaking to understand existing challenges. Then, the recently developed framework Learning Model Predictive Control (LMPC) is presented as a suitable method to iteratively improve an overtaking manoeuvre each time it is performed. READ MORE

  6. 5. Learning Model Predictive Control for Autonomous Racing : Improvements and Model Variation in Model Based Controller

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Shuqi Xu; [2018]
    Keywords : Model Predictive Control; Autonomous Racing; Learning; System Identification; modell prediktiv kontroll; autonom racing; inlärning; systemidentifierings;

    Abstract : In this work, an improved Learning Model Predictive Control (LMPC)architecture for autonomous racing is presented. The controller is referencefree and is able to improve lap time by learning from history data of previouslaps. READ MORE