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Numerical methods for efficient and fast nonlinear model predictive control

Numerical methods for efficient and fast nonlinear model pre...

引用

International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Bock, Hans Georg Diehl, Moritz Kuehl, Peter Kostina, Ekaterina Schloeder, Johannes P. Wirsching, Leonard Heidelberg Univ Interdisciplinary Ctr Sci Comp IWR Neuenheimer Feld 368 D-69120 Heidelberg Germany

ISBN: (纸本)9783540726982

The paper reports on recent progress in the real-time computation of constrained closed-loop optimal control, in particular the special case of nonlinear model predictive control, of large differential algebraic equations (DAE) systems arising e.g. from a MoL discretization of instationary PDE. Through a combination of a direct multiple shooting approach and an initial value embedding, a so-called "real-time iteration" approach has been developed in the last few years. One of the basic features is that in each iteration of the optimization process, new process data are being used. Through precomputation - as far as possible - of Hessian, gradients and QP factorizations the response time to perturbations of states and system parameters is minimized. We present and discuss new real-time algorithms for fast feasibility and optimality improvement that do not need to evaluate Jacobians online.

关键词： Numerical methods

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A Petri net approach to persistence analysis in chemical reaction networks

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International Workshop on Biology and control Theory

作者： Angeli, David De Leenheer, Patrick Sontag, Eduardo Univ Florence Dept Syst & Compt Sci I-50121 Florence Italy Univ Florida Dept Math Gainesville FL USA Rutgers State Univ Dept Math Piscataway NJ USA

ISBN: (纸本)9783540719878

A positive dynamical system is said to be persistent if every solution that starts in the interior of the positive orthant does not approach the boundary of this orthant. For chemical reaction networks and other models in biology, persistence represents a non-extinction property: if every species is present at the start of the reaction, then no species will tend to be eliminated in the course of the reaction. This paper provides checkable necessary as well as sufficient conditions for persistence of chemical species in reaction networks, and the applicability of these conditions is illustrated on some examples of relatively high dimension which arise in molecular biology. More specific results are also provided for reactions endowed with mass-action kinetics. Overall, the results exploit concepts and tools from Petri net theory as well as ergodic and recurrence theory.

关键词： Petri nets

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Nonlinear model predictive control:: A passivity-based approach

Nonlinear model predictive control:: A passivity-based appro...

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International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Raff, Tobias Ebenbauer, Christian Allgoewer, Frank Univ Stuttgart Inst Syst Theory & Automat Control Pfaffenwaldring 9 D-70550 Stuttgart Germany

ISBN: (纸本)9783540726982

This paper presents a novel approach for nonlinear model predictive control based on the concept of passivity. The proposed nonlinear model predictive control scheme is inspired by the relationship between optimal control and passivity as well as by the relationship between optimal control and model predictive control. In particular, a passivity-based state constraint is used to obtain a nonlinear model predictive control scheme with guaranteed closed loop stability. Since passivity and stability are closely related, the proposed approach can be seen as an alternative to control Lyapunov function based approaches. To demonstrate its applicability, the passivity-based nonlinear model predictive control scheme is applied to control a quadruple tank system.

关键词： Model predictive control

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System and control theory furthers the understanding of biological signal transduction

引用

International Workshop on Biology and control Theory

作者： Bullinger, Eric Findeisen, Rolf Kalamatianos, Dimitrios Wellstead, Peter Natl Univ Ireland Hamilton Inst Maynooth Kildare Ireland Univ Stuttgart Inst Syst Theory & Automat Control D-70550 Stuttgart Germany

This article discusses why novel modelling and analysis methods are required for biological systems, presents recent advances and outlines some future challenges. In this respect, the main focus is placed upon methods... 详细信息

ISBN: (纸本)9783540719878

关键词： Signal transduction

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A two-time-scale control scheme for fast unconstrained systems

A two-time-scale control scheme for fast unconstrained syste...

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International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Gros, Sebastien Buccieri, Davide Mullhaupt, Philippe Bonvin, Dominique Ecole Polytech Fed Lausanne Lab Automat CH-1015 Lausanne Switzerland

ISBN: (纸本)9783540726982

Model predictive control (MPC) is a very effective approach to control nonlinear systems, especially when the systems are high dimensional and/or constrained. MPC formulates the problem of input trajectory generation as an optimization problem. However, due to model mismatch and disturbances, frequent re-calculation of the trajectories is typically called for. This paper proposes a two-time-scale control scheme that uses less frequent repeated trajectory generation in a slow loop and time-varying linear feedback in a faster loop. Since the fast loop reduces considerably the effect of uncertainty, trajectory generation can be done much less frequently. The problem of trajectory generation can be treated using either optimization-based MPC or flatness-based system inversion. As proposed, the method cannot handle hard constraints. Both MPC and the two-time-scale control scheme are tested via the simulation of a flying robotic structure. It is seen that the MPC scheme is too slow to be considered for real-time implementation on a fast system. In contrast, the two-time-scale control scheme is fast, effective and robust.

关键词： Model predictive control

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NMPC for complex stochastic systems using a Markov chain Monte Carlo approach

NMPC for complex stochastic systems using a Markov chain Mon...

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International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Maciejowski, Jan M. Visintini, Andrea Lecchini Lygeros, John Univ Cambridge Dept Engn Cambridge CB2 1PZ England Univ Leicester Dept Engn Leicester LE1 7RH Leics England ETH Automat Control Lab CH-8092 Zurich Switzerland

ISBN: (纸本)9783540726982

Markov chain Monte Carlo methods can be used to make optimal decisions in very complex situations in which stochastic effects are prominent. We argue that these methods can be viewed as providing a class of nonlinear MPC methods. We discuss decision taking by maximising expected utility, and give an extension which allows constraints to be respected. We give a brief account of an application to air traffic control, and point out some other problem areas which appear to be very amenable to solution by the same approach.

关键词： Stochastic systems

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UAV splay state configuration for moving targets in wind

UAV splay state configuration for moving targets in wind

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7th International Conference on Cooperative control and Optimization

作者： Kingston, Derek Beard, Randal Brigham Young Univ Provo UT 84602 USA

ISBN: (纸本)9783540743545

Cooperative surveillance problems require members of a team to spread out in some fashion to maximize coverage. In the case of single target surveillance, a team of UAVs angularly spaced (i.e. in the splay state configuration) provides the best coverage of the target in a wide variety of circumstances. In this chapter we propose a decentralized algorithm to achieve the splay state configuration for a team of UAVs tracking a moving target. We derive the allowable bounds on target velocity to generate a feasible solution as well as show that, near equilibrium, the overall system is exponentially stable. Monte Carlo simulations indicate that the surveillance algorithm is asymptotically stable for arbitrary initial conditions. We conclude with high fidelity simulation tests to show the applicability of the splay state controller to actual unmanned air systems.

关键词： Unmanned aerial vehicles (UAV)

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A Nonlinear model predictive control framework as free software: Outlook and progress report

A Nonlinear model predictive control framework as free softw...

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International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Romanenko, Andrey Santos, Lino O. Univ Coimbra Dept Engn Quim GEPSI PSE Pinhal MarrocosPolo 2 P-3030290 Coimbra Portugal

ISBN: (纸本)9783540726982

Model predictive control (MPC) has been a field with considerable research efforts and significant improvements in the algorithms. This has led to a fairly large number of successful industrial applications. However, many small and medium enterprises have not embraced MPC, even though their processes may potentially benefit from this control technology. We tackle one aspect of this issue with the development of a nonlinear model predictive control package NEWCON that will be released as free software. The work details the conceptual design, the control problem formulation and the implementation aspects of the code. A possible application is illustrated with an example of the level and reactor temperature control of a simulated CSTR. Finally, the article outlines future development directions of the NEWCON package.

关键词： Model predictive control

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Integration of advanced model based control with industrial IT

Integration of advanced model based control with industrial ...

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International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Franke, Ruediger Doppelhamer, Jens ABB AG Power Generat Mannheim Germany ABB Corp Res Ladenburg Germany

ISBN: (纸本)9783540726982

Advanced model based control is a promising technology that can improve the productivity of industrial processes. In order to find its way into regular applications, advanced control must be integrated with the industrial control systems. Modern control systems, on the other hand, need to extend the reach of traditional automation systems - beyond control of the process - to also cover the increasing amount of information technology (IT) required to successfully operate industrial processes in today's business markets. The Industrial IT System 800xA from ABB provides a scalable solution that spans and integrates loop, unit, area, plant, and interplant controls. This paper introduces the 800xA and the underlying Aspect Object technology. It is shown how model knowledge and optimization solver technology are integrated into the 800xA framework. This way, advanced model based control solutions can be set up in an open and modularly structured way. New model and solver aspects can be combined with available aspects covering standard functionality like process connectivity, management of process data, trend&history data and application data, as well as operator graphics. A Nonlinear Model-based Predictive controller (NMPC) for power plant start-up is treated as example. This paper discusses how NMPC can be integrated with a modern control system so that standard concepts are re-used for this advanced model based control concept.

关键词： Model predictive control

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Hybrid NMPC control of a sugar house

Hybrid NMPC control of a sugar house

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International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Sarabia, D. de Prada, C. Cristea, S. Mazaeda, R. Colmenares, W. Univ Valladolid Dept Syst Engn & Automat Control Fac Sci C Real Burgos S-N E-47002 Valladolid Spain Univ Simon Bolivar Dept Proc Syst Caracas 1080 Venezuela

ISBN: (纸本)9783540726982

Plant-wide control is attracting considerable interest, both as a challenging research field and because of its practical importance. It is a topic [1] characterized by complexity in terms of the number and type of equipments involved, diversity of aims, and lack of adequate models and control policies. In this paper, the MPC control of the final part of a beet sugar factory, the so-called sugar house or sugar end, where sugar crystals are made, is presented. Perhaps the most characteristic aspect of its operation is that batch and continuous units operate jointly, which introduce the need for combining on-line scheduling with continuous control. As such, it is a hybrid process that requires non-conventional control techniques. The paper presents a methodology and a predictive controller that takes into account both, the continuous objectives and manipulated variables, as well as the ones related to the discrete operation and logic of the batch units, and, at the end, simulation results of the controller operation are provided. © Springer-Verlag Berlin Heidelberg 2007.

关键词： controllers

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