In this paper, we describe the embedded conic solver (ECOS), an interior-point for second-order cone programming (SOCP) designed specifically applications. ECOS is written in low footprint, single-threaded, library-free ANSI-C and so runs on most platforms. The main algorithm a standard primal-dual Mehrotra predictor-corrector method with Nesterov-Todd scaling self-dual embedding, search directions found via symmetric indefinite KKT system, chosen to allow stable factorization fixed pivoting...

This paper describes autonomous racing of RC race cars based on mathematical optimization. Using a dynamical model the vehicle, control inputs are computed by receding horizon controllers, where objective is to maximize progress track subject requirement staying and avoiding opponents. Two different formulations presented. The first controller employs two-level structure, consisting path planner nonlinear predictive (NMPC) for tracking. second combines both tasks in one optimization problem...

Receding horizon control requires the solution of an optimization problem at every sampling instant. We present efficient interior point methods tailored to convex multistage problems, a class which most relevant MPC problems with linear dynamics can be cast in, and specify important algorithmic details required for high speed implementation superior numerical stability. In particular, presented approach allows quadratic constraints, is not supported by existing fast solvers. A...

Real-time implementation of optimisation-based control and trajectory planning can be very challenging for nonlinear systems. As a result, if an based on fixed linearisation is not suitable, the problems are typically locally approximated online, in order to leverage speed robustness embedded solvers convex quadratic programs (QP) developed during last decade. The purpose this paper demonstrate that, using simple standard building blocks from programming, combined with structure-exploiting...

We propose a method for automated aerial videography in dynamic and cluttered environments. An online receding horizon optimization formulation facilitates the planning process novices experts alike. The algorithm takes high-level plans as input, which we dub virtual rails, alongside interactively defined aesthetic framing objectives jointly solves 3D quadcopter motion associated velocities. generates control inputs subject to constraints of non-linear quadrotor model imposed by actors...

We propose a method for real-time trajectory generation with applications in aerial videography. Taking framing objectives, such as position of targets the image plane, input, our solves robot trajectories and gimbal controls automatically adapts plans real time due to changes environment. contribute receding horizon planner that autonomously records scenes moving targets, while optimizing visibility under occlusion ensuring collision-free trajectories. A modular cost function, based on...

Field-oriented control (FOC) has proven effective for controlling ac drives with good dynamic performance. However, operation at low-switching frequencies and the sensitivity of traditional feedforward loops to system parameters pose severe limitations on achievable performance require a tedious tuning procedure. In this paper, we present systematic cascade explicit model predictive framework FOC electrical drives, resolving aforementioned issues while being sufficiently simple be widely...

We consider the problem of predicting motion vehicles in surrounding an autonomous car, for improved planning lane-based driving scenarios without inter-vehicle communication. First, we address single-vehicle estimation by designing a filtering scheme based on Interacting Multiple Model Kalman Filter equipped with novel intention-based models. Second, augment proposed optimization-based projection that enables generation non-colliding predictions. then extend approach to simultaneously...

The present paper deals with sensorless model predictive control of permanent magnet synchronous motors. proposed explicit controllers consist in precomputed (optimal) state feedbacks that are selected according to the measured using binary search-trees. This type controller is well suited obtain very fast algorithms impose high dynamic performance. scheme based on two cascaded controllers, one for torque another speed control. nonlinearities motor dynamics due taken into account derivation....

We present a code generation strategy for handling long prediction horizons in the context of real-time nonlinear model predictive control (NMPC). Existing implementations fast NMPC algorithms use iteration (RTI) scheme and condensing technique to reduce number optimization variables. Condensing results much smaller, but dense quadratic program (QP) be solved at every time step. While this approach is well suited short horizons, it leads unnecessarily execution times problem formulations...

Starting in the late 1970s, optimization-based control has built up an impressive track record of successful industrial applications, particular petrochemical and process industries. More recently, optimization methods for automatic are more deployed on so-called embedded hardware to cater application-specific needs such as guaranteed communication latency, low energy consumption or cost effectiveness. This development greatly broadens scope applications which can be applied sectors...

A study is presented on power oscillation damping (POD) control using wide area measurements applied to a single static var compensator (SVC). An equivalent system model representing key characteristics of the Nordic used. Feedback signals from remote phasor measurement units (PMUs) in Norway and Finland are used damp critical inter-area modes through large SVC unit located south-east Norway. comparison between two design approaches: (i) model-based POD (MBPOD) – dependant accurate (ii)...

Some aerial tasks are achieved more efficiently and at a lower cost by group of independently controlled micro vehicles (MAVs) when compared to single, sophisticated robot. Controlling formation flight can be cast as two-level problem: stabilization relative distances agents (formation shape control) control the center gravity formation. To date, accurate MAVs usually relies on external tracking devices (e.g. fixed cameras) or signals GPS) uses centralized control, which severely limits its...

Fast model predictive control on embedded systems has been successfully applied to plants with microsecond sampling times employing a precomputed state-to-input map. However, the complexity of this so-called explicit MPC can be prohibitive even for low-dimensional systems. In paper, we introduce new synthesis method low-complexity suboptimal controllers based function approximation from randomly chosen point-wise sample values. addition standard machine learning algorithms formulated as...

This paper describes a framework for generating easily verifiable code to solve convex optimization problems in embedded applications by transforming them into equivalent second-order cone programs. In applications, it is critical be able verify correctness, but also desirable rapidly prototype and deploy high-performance solvers different problems. To balance these two requirements, we propose generation system that takes high-level descriptions of generates maps the parameters original...

In this paper, we propose an embedded optimization approach for the localization of Internet Things (IoT) devices making use range measurements from ultra-wideband (UWB) signals. Low-cost, low-power UWB radios provide time-of-arrival with decimeter accuracy over large distances. UWB-based methods have been envisioned to enable feedback control in IoT applications, particularly, GPS-denied environments, and wireless sensor networks. formulate task as a nonlinear least-squares problem based on...

In this paper we present a systematic model based approach to state and parameter estimation for the induction machine. We use moving horizon (MHE), an optimization scheme that yields excellent performance can be used with aggressive controllers such as predictive controllers. The past measurements within given are combined priori estimate on machine model. Under mild assumptions, maximum-likelihood of states parameters over horizon. resulting problem is solved using Generalized Gauss-Newton...

Power oscillation damping (POD) control employing wide-area signals is illustrated in an equivalent system model representing key characteristics of Nordic power system. Phasor measurement units (PMUs) Norway and Finland are used to obtain feedback for supplementary a large SVC unit located the south-east Norway. Comparison has been made between two design approaches- (i) robust linear time invariant based POD (MBPOD) - dependant on accurate (ii) indirect adaptive (IAPOD) which fixed...

This paper analyses the effect of torque ripple on back-EMF based speed observers for permanent magnet motors. It introduces a scheme that allows to improve these estimates and identify motor inherent ripple. A high-dynamic performance sensorless model predictive controller is proposed effectively mitigate selected harmonics. The presented concepts are validated experimentally.

Summary form only given. The past two decades have witnessed enormous advances in solving model predictive control (MPC) problems on embedded controller hardware. Besides featuring limited computational resources, the main challenge MPC applications is to make underlying numerical optimization run highly reliably without any user interaction. Today, theory, algorithms and implementations reached a level of maturity that enables use technology commercial products. This survey provides an...

An effective means for analyzing the impact of novel operating schemes on power systems is time-domain simulation, example, investigating optimization-based curtailment renewables to alleviate voltage violations. Traditionally, interior-point methods are used solving non-convex AC optimal flow (OPF) problems arising in this type simulation. This paper presents an alternative algorithm that better suits simulation framework, because it can more effectively be warm started, has linear...