Particle swarm optimization in optimal control problems for Car on a constrained piecewise affine hill
Subject Areas : Journal of New Applied and Computational Findings in Mechanical SystemsAhmad Kia Kojouri 1 , Javad MashayekhiFard 2
1 - Department of Electrical Engineering, Islamshahr Branch, Islamic Azad University, Islamshahr, Iran
2 - Department of Electrical Engineering, Sabzevar Branch, Islamic Azad University, Sabzevar, Iran.
Keywords: piecewise affine, particle swarm optimization, constrained optimal control, reducing the complexity of the control low.,
Abstract :
In spite of all the Demonstrate Prescient Control (MPC) based arrangement preferences such as ensuring soundness, the most impediment such as an exponential development of the number of the polyhedral locale by expanding the expectation skyline exists. This causes an increase in the computation complexity of control law. In this paper, we consider the arrangement to ideal control issues for constrained piecewise affine systems based on demonstrating predictive control. After that, we utilize particle swarm optimization calculation to complexity diminishment of arrangement and alter the framework execution. In truth the point of the paper is twofold. To begin with, we consider the hypothetical comes about on the structure of the control law. At the minute, we portray how the complexity of deciding control law can be capable of decreased and moving forward system execution at the same time by utilizing particle swarm optimization. The considered calculation is associated with a Car on a constrained piecewise affine hill and the result is shown to the advantage of our analysis. The objective of the car is to climb to the top of a steep slope and then preserve its position at the top (the beginning), without falling from the piecewise affine environment. The number of control law polyhedrals diminishes from 129 to 25.