Search results
Results from the WOW.Com Content Network
Model predictive control (MPC) is an advanced method of process control that is used to control a process while satisfying a set of constraints. It has been in use in the process industries in chemical plants and oil refineries since the 1980s.
Depending on the configuration, open-chain robotic manipulators require a degree of trajectory optimization. For instance, a robotic arm with 7 joints and 7 links (7-DOF) is a redundant system where one cartesian position of an end-effector can correspond to an infinite number of joint angle positions, thus this redundancy can be used to optimize a trajectory to, for example, avoid any ...
The constraints on the system dynamics can be adjoined to the Lagrangian by introducing time-varying Lagrange multiplier vector , whose elements are called the costates of the system. This motivates the construction of the Hamiltonian H {\displaystyle H} defined for all t ∈ [ 0 , T ] {\displaystyle t\in [0,T]} by:
The sum of these values is an upper bound because the soft constraints cannot assume a higher value. It is exact because the maximal values of soft constraints may derive from different evaluations: a soft constraint may be maximal for = while another constraint is maximal for =.
In this example, the term control law refers specifically to the way in which the driver presses the accelerator and shifts the gears. The system consists of both the car and the road, and the optimality criterion is the minimization of the total traveling time. Control problems usually include ancillary constraints. For example, the amount of ...
Robust model predictive control is a more conservative method which considers the worst scenario in the optimization procedure. However, this method, similar to other robust controls, deteriorates the overall controller's performance and also is applicable only for systems with bounded uncertainties. The alternative method, SMPC, considers soft ...
In mathematics, a constraint is a condition of an optimization problem that the solution must satisfy. There are several types of constraints—primarily equality constraints, inequality constraints, and integer constraints. The set of candidate solutions that satisfy all constraints is called the feasible set. [1]
Channel routing example. Channel routing is the problem of routing of a set of nets N which have fixed terminals on two opposite sides of a rectangle ("channel"). In this context, the horizontal constraint graph is the undirected graph with vertex set N and two nets are connected by an edge if and only if horizontal segments of the routing must overlap.