A multi-constrained model predictive control （ MPC ） algorithm for trajectory tracking of an autonomous ground vehicle is proposed and tested in this paper. First, to simplify the computa- tion, an active steering l...A multi-constrained model predictive control （ MPC ） algorithm for trajectory tracking of an autonomous ground vehicle is proposed and tested in this paper. First, to simplify the computa- tion, an active steering linear error model is applied in the MPC controller. Then, a control incre- ment constraint and a relaxing factor are taken into account in the objective function to ensure the smoothness of the trajectory, using a softening constraints technique. In addition, the controller can obtain optimal control sequences which satisfy both the actual kinematic constraints and the actuator constraints. The circular trajectory tracking performance of the proposed method is compared with that of another MPC controller. To verify the trajectory tracking capabilities of the designed control- ler at different desired speed, the simulation experiments are carried out at the speed of 3m/s, 5m/ s and 10m/s. The results demonstrate the MPC controller has a good speed adaptability.展开更多
In order to recognize the distribution of dispersed remaining oil,reservoirs should be described in more detail and quantitatively to establish refined and sophisticated 3D quantified reservoir model which can reflect...In order to recognize the distribution of dispersed remaining oil,reservoirs should be described in more detail and quantitatively to establish refined and sophisticated 3D quantified reservoir model which can reflect the detailed variation in the reservoir and its structure.The key point of sophistication and quantification of reservoir characterization is to describe the geo-metry of interwell sandbodies and to estimate their reservoir parameters.展开更多
基金Supported by the National Natural Science Foundation of China(51275041,61304194)the Doctoral Fund of Ministry of Education of China(20121101120015)the Fundamental Research Funds from Beijing Institute of Technology(20120342011)
文摘A multi-constrained model predictive control （ MPC ） algorithm for trajectory tracking of an autonomous ground vehicle is proposed and tested in this paper. First, to simplify the computa- tion, an active steering linear error model is applied in the MPC controller. Then, a control incre- ment constraint and a relaxing factor are taken into account in the objective function to ensure the smoothness of the trajectory, using a softening constraints technique. In addition, the controller can obtain optimal control sequences which satisfy both the actual kinematic constraints and the actuator constraints. The circular trajectory tracking performance of the proposed method is compared with that of another MPC controller. To verify the trajectory tracking capabilities of the designed control- ler at different desired speed, the simulation experiments are carried out at the speed of 3m/s, 5m/ s and 10m/s. The results demonstrate the MPC controller has a good speed adaptability.
文摘In order to recognize the distribution of dispersed remaining oil,reservoirs should be described in more detail and quantitatively to establish refined and sophisticated 3D quantified reservoir model which can reflect the detailed variation in the reservoir and its structure.The key point of sophistication and quantification of reservoir characterization is to describe the geo-metry of interwell sandbodies and to estimate their reservoir parameters.
