lasso mpc predictive control with 1 regularised least squares

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Lasso Mpc Predictive Control With L1 Regularised Least Squares

Author : Marco Gallieri
ISBN : 9783319279633
Genre : Technology & Engineering
File Size : 47. 39 MB
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This thesis proposes a novel Model Predictive Control (MPC) strategy, which modifies the usual MPC cost function in order to achieve a desirable sparse actuation. It features an l1-regularised least squares loss function, in which the control error variance competes with the sum of input channels magnitude (or slew rate) over the whole horizon length. While standard control techniques lead to continuous movements of all actuators, this approach enables a selected subset of actuators to be used, the others being brought into play in exceptional circumstances. The same approach can also be used to obtain asynchronous actuator interventions, so that control actions are only taken in response to large disturbances. This thesis presents a straightforward and systematic approach to achieving these practical properties, which are ignored by mainstream control theory.

Code Generation For Embedded Convex Optimization

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ISBN : STANFORD:qd834ss0073
Genre :
File Size : 80. 55 MB
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Convex optimization is widely used, in many fields, but is nearly always constrained to problems solved in a few minutes or seconds, and even then, nearly always with a human in the loop. The advent of parser-solvers has made convex optimization simpler and more accessible, and greatly increased the number of people using convex optimization. Most current applications, however, are for the design of systems or analysis of data. It is possible to use convex optimization for real-time or embedded applications, where the optimization solver is a part of a larger system. Here, the optimization algorithm must find solutions much faster than a generic solver, and often has a hard, real-time deadline. Use in embedded applications additionally means that the solver cannot fail, and must be robust even in the presence of relatively poor quality data. For ease of embedding, the solver should be simple, and have minimal dependencies on external libraries. Convex optimization has been successfully applied in such settings in the past. However, they have usually necessitated a custom, hand-written solver. This requires signficant time and expertise, and has been a major factor preventing the adoption of convex optimization in embedded applications. This work describes the implementation and use of a prototype code generator for convex optimization, CVXGEN, that creates high-speed solvers automatically. Using the principles of disciplined convex programming, CVXGEN allows the user to describe an optimization problem in a convenient, high-level language, then receive code for compilation into an extremely fast, robust, embeddable solver.

Intelligent Networked Teleoperation Control

Author : Zhijun Li
ISBN : 9783662468982
Genre : Technology & Engineering
File Size : 36. 39 MB
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This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.

Adaptive Regression For Modeling Nonlinear Relationships

Author : George J. Knafl
ISBN : 9783319339467
Genre : Medical
File Size : 20. 25 MB
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This book presents methods for investigating whether relationships are linear or nonlinear and for adaptively fitting appropriate models when they are nonlinear. Data analysts will learn how to incorporate nonlinearity in one or more predictor variables into regression models for different types of outcome variables. Such nonlinear dependence is often not considered in applied research, yet nonlinear relationships are common and so need to be addressed. A standard linear analysis can produce misleading conclusions, while a nonlinear analysis can provide novel insights into data, not otherwise possible. A variety of examples of the benefits of modeling nonlinear relationships are presented throughout the book. Methods are covered using what are called fractional polynomials based on real-valued power transformations of primary predictor variables combined with model selection based on likelihood cross-validation. The book covers how to formulate and conduct such adaptive fractional polynomial modeling in the standard, logistic, and Poisson regression contexts with continuous, discrete, and counts outcomes, respectively, either univariate or multivariate. The book also provides a comparison of adaptive modeling to generalized additive modeling (GAM) and multiple adaptive regression splines (MARS) for univariate outcomes. The authors have created customized SAS macros for use in conducting adaptive regression modeling. These macros and code for conducting the analyses discussed in the book are available through the first author's website and online via the book’s Springer website. Detailed descriptions of how to use these macros and interpret their output appear throughout the book. These methods can be implemented using other programs.

Model Predictive Control

Author : Eduardo F. Camacho
ISBN : 9780857293985
Genre : Technology & Engineering
File Size : 56. 18 MB
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The second edition of "Model Predictive Control" provides a thorough introduction to theoretical and practical aspects of the most commonly used MPC strategies. It bridges the gap between the powerful but often abstract techniques of control researchers and the more empirical approach of practitioners. The book demonstrates that a powerful technique does not always require complex control algorithms. Many new exercises and examples have also been added throughout. Solutions available for download from the authors' website save the tutor time and enable the student to follow results more closely even when the tutor isn't present.

Modern Statistical Methods For Astronomy

Author : Eric D. Feigelson
ISBN : 9780521767279
Genre : Science
File Size : 55. 75 MB
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"Modern astronomical research is beset with a vast range of statistical challenges, ranging from reducing data from megadatasets to characterizing an amazing variety of variable celestial objects or testing astrophysical theory. Yet most astronomers still use a narrow suite of traditional statistical methods. Linking astronomy to the world of modern statistics, this volume is a unique resource, introducing astronomers to advanced statistics through ready-to-use code in the public-domain R statistical software environment"--

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