In Situ Adaptive Tabulation for Real-Time Control

Research Proposal in Situ Adaptive Tabulation for Real-time Control

Approximate nonlinear model predictive control with in situ adaptive tabulation

In situ adaptive tabulation (ISAT) is applied to store and retrieve solutions of nonlinear model predictive control (NMPC) problems. ISAT controls approximation error by adaptively building the database of NMPC solutions with piecewise linear local approximations. Unlike initial state or constraint parameterized constrained quadratic programming (QP) solutions, ISAT approximates NMPC solutions ...

An improved algorithm for in situ adaptive tabulation

In situ adaptive tabulation (ISAT) is a proven storage/retrieval method which efficiently provides accurate approximations to high-dimensional functions which are computation-ally expensive to evaluate. Previous applications of ISAT to computations of turbulent combustion have resulted in speed-ups of up to a thousand. In this paper, improvements to the original ISAT algorithm are described and...

Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...

Adaptation of the in situ adaptive tabulation (ISAT) procedure for efficient computation of surface reactions

In this article, the in situ adaptive tabulation (ISAT) procedure, originally developed [Pope, S. (1997). Computationally efficient implementation of combustion chemistry using in situ adaptive tabulation. Combustion Theory and Modeling, 1, 41–63] for the efficient computation of homogeneous reactions in chemically reacting flows, is adapted for the efficient computation of heterogeneous surfac...