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9th International Conference on Swarm Intelligence (ICSI)

作者： Ebel, Henrik Eberhard, Peter Univ Stuttgart Inst Engn & Computat Mech Pfaffenwaldring 9 D-70569 Stuttgart Germany

ISBN: (纸本)9783319938189;9783319938172

This paper introduces a distributed control scheme tailor-made to the task of letting a swarm of mobile robots push an object through a planar environment. Crucially, there is no centralized control instance or inter-robot hierarchy, and therefore, all decisions are made in a distributed manner. For being able to cooperate, the robots communicate, although the communication sampling time may be several times longer than the control sampling time. Most characteristic for the approach, distributed model predictive controllers are used to achieve a smooth transportation performance with the predicted control errors utilized to plan a suitable object trajectory. Challenging simulation scenarios show the applicability of the approach to the transportation task.

关键词： distributed optimization Communication Swarm mobile robots Cooperative object transportation distributed model predictive control

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model predictive control for an Unmanned Helicopter

Model Predictive Control for an Unmanned Helicopter

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IEEE International Conference on Unmanned Systems (ICUS)

作者： Xing Gong BeijingAerospace Feiteng Equipment Technology Co. LTD ChinaAerospace Science and Technology Corporation Beijing China

ISBN: (纸本)9781728137933

Helicopter is a very interesting MIMO plant with strong nonlinearity and coupling properties. This article implements a controller for helicopter based on the cascade control strategy. A discrete model predictive controller(DMPC) using Laguerre functions is proposed for velocity tracking, and an active disturbance rejection controller is presented for attitude stabilization. The exponentially data weighting method is introduced into DMPC design to overcome the numerical instability caused by a large prediction horizon. In addition, a prescribed degree of closed-loop stability is adopted to obtain satisfying closed-loop performance and ease the difficulty of parameter tuning. Finally, the simulation with wind disturbance demonstrates the effectiveness of the controller.

关键词： Discrete model predictive control Exponentially data weighting Prescribed degree of stability Active disturbance rejection control drone helicopters distributed model predictive control Robust control Helicopters Dimyristoylphosphatidylcholine controllers Laguerre functions model predictive control predictive control nonlinear model predictive control cascade control closed-loop performance

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Cooperative DMPC-Based Load Frequency control of AC/DC Interconnected Power System with Solar Thermal Power Plant 10

Cooperative DMPC-Based Load Frequency Control of AC/DC Inter...

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IEEE PES Asia-Pacific Power and Energy Engineering Conference (APPEEC)

作者： Liao, Xiaobing Liu, Kaipei Qin, Liang Wang, Ningbo Ma, Yanhong Chen, Zhao Ding, Kun Zhou, Qiang Wuhan Univ Sch Elect Engn Wuhan 430072 Hubei Peoples R China State Grid Gansu Power Grid Corp Wind Technol Ctr Lanzhou 730050 Gansu Peoples R China

ISBN: (纸本)9781538656860

This paper present a cooperative distributed model predictive control (C-DMPC) strategy for load frequency control (LFC) of the three-area AC/ DC interconnected power system incorporating solar thermal power plant. The distributed LFC model of three multisource (solar plant, thermal plant, and diesel plant) is designed in the presence of both external disturbances and constraints which represent generation rate constraint (GRC) and control input constraints, respectively. Simulation and analysis results for the three-area AC/DC interconnected power system indicate dynamic responses performance of C-DMPC is better than Non-Cooperative DMPC (NC-DMPC) and decentralized MPC (D-MPC), and HVDC power modulation can improve the system frequency stability.

关键词： solar thermal power plant AC/DC power grid distributed model predictive control load frequency control HVDC power modulation

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MPC based State Observer and its application for system with input-output disturbances

MPC based State Observer and its application for system with...

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IEEE International Conference on Power and Energy Systems (ICPES)

作者： S. Shadab D. Pardeshi S. Mohite S. Bhil EED VJTI Mumbai India

ISBN: (数字)9781728126586

ISBN: (纸本)9781728126593

The progression of current advancements and innovative development of power electronics has prompted the extensive utilization of Buck-Boost converters in battery management system, automatic power supplies and power amplifiers. The control objective is to track the output voltage under varying load and varying reference voltage. The nonlinear states of the converter are controlled by a systematic linearization strategy. The High Gain Observer (HGO) is formulated to estimate the output voltage and load current and these estimated values are fed forward to the model predictive controller (MPC). The convergence of load current trajectories to reference current trajectories within a finite time is ensured by MPC. Output voltage tracking with the reference voltage is achieved by duty ratio generated by the inner control loop. The viability of implementation of the proposed estimator-controller combination are carried out on MATLAB Simulink.

关键词： Buck-Boost converter High Gain Observer model predictive control boost converters output voltage Maximum Allowable Concentration voltage reference Power electronics Observers high gain load current model predictive control predictive control distributed model predictive control nonlinear model predictive control Battery management systems variable amplitude loading stacking factor

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Performance Comparision of Kalman Filter and RLS models in MPC Applications

Performance Comparision of Kalman Filter and RLS Models in M...

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International Conference on Electrical, control and Instrumentation Engineering (ICECIE)

作者： Mawia El-Gazzar Awad Shamekh Ali Altowati University of Benghazi Benghazi Libya School of Technology and Innovations Telecommunications Engineering University of Vaasa Vaasa Finland

ISBN: (纸本)9781728139401

This paper considers a comparison between the Kalman Filter (KF) and the Recursive Least Squares (RLS) models in the design of model predictive control (MPC). The assessment is validated through two industrial applications; a two-coupled tank and binary distillation column systems. The study has conducted several simulation scenarios using Matlab/Simulink software. Linear models are identified for the controlled systems where the input and output variables are subjected to non-stationary measurement of noise. In the first application, the Extended Kalman Filter (EKF) is utilized to provide a state space suboptimal model for the two-coupled tank system. The EKF is suggested as this process is characterized as a nonlinear system. The estimated model is then incorporated with the MPC control law to drive the process outputs to follow their set point trajectories. Similarly, the RLS algorithm was exploited to identify the parameters of multi-input single-output relationships for the aforementioned system. The similar policy was also implemented for the second application, which undertakes the binary distillation column. This system is classified as a linear process in this research, therefore the standard KF is utilized with application. The performance of the designed MPC scenarios, based on the two identification approaches, are evaluated by means of the Integral Squares Error (ISE) performance index.

关键词： Extended Kalman Filter Recursive Least Square model predictive control Two-Coupled Tank Binary Distillation Column recursive least squares Extended Kalman filters Restless Legs Syndrome Maximum Allowable Concentration model predictive control predictive control control law Distillation columns distributed model predictive control nonlinear model predictive control Kalman filters

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A Cascaded Extended State Observer for Three-level Back-to-back Converter with Surface Mounted Permanent Magnet Synchronous Motor

A Cascaded Extended State Observer for Three-level Back-to-b...

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International Conference on Electrical Machines and Systems (ICEMS)

作者： Guiying Lin Fengxiang Wang Yingjie He José Rodríguez College of Electrical Engineering and Automation Fuzhou University Fuzhou China Quanzhou Institute of Equipment Manufacturing Haixi Institutes Chinese Academy of Sciences Quanzhou China Department of Electronics Engineering Universidad Andrés Bello Santiago Chile

ISBN: (纸本)9781728133997

For better DC-link voltage response in three-level neutral point clamped (NPC) back-to-back converter, a cascaded extended state observer (CESO) is proposed in this paper. DC-link is the connection between active front ends (AFEs) and machines, whose stability is critical to both sides. However, the desired performance cannot be guaranteed when many disturbances occurred. Aiming to improve its response under disturbance, two extended state observers (ESOs) which estimate power and torque disturbance for the AFE and surface mounted permanent magnet synchronous motor (SPMSM), respectively, are realized in NPC back-to-back converter with model predictive control (MPC). Due to the cascaded structure of the back-to-back converter, power estimation in a conventional way takes a long time to converge. Thus, a CESO is proposed by introducing the torque reference to estimate power disturbance more quickly. With proper design of feedforward compensation, faster dynamic response is obtained, also, DC-link voltage barely changes when the working point of the SPMSM moves. The performance in both steady and transient states of the proposed scheme is verified by simulation results.

关键词： Cascaded extended state observer model predictive control Three-level back-to-back converter Active front end Surface mounted permanent magnet synchronous motor Permanent magnet synchronous machines Converters Observers three-level back-to-back active front end model predictive control predictive control Surface mounted disturbing torque distributed model predictive control nonlinear model predictive control DC link CASCADE STRUCTURES Workstations

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Intersection Crossing of Cooperative Multi-vessel Systems

Intersection Crossing of Cooperative Multi-vessel Systems

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15th International-Federation-of-Automatic-control (IFAC) Symposium on control in Transportation Systems (CTS)

作者： Chen, Linying Negenborn, Rudy R. Hopman, Hans Delft Univ Technol Dept Maritime & Transport Technol Delft Netherlands

A Cooperative Multi-Vessel System (CMVS) is a system consisting of multiple coordinated vessels. Vessels utilize Vessel-2-Vessel and Vessel-2-Infrastructure communication to making decisions with negotiating and\or collaborating with each other for a common goal. Due to the geographic limitations of banks and navigation rules and regulations, in straight waterways, the cooperation of vessels usually results in train-like formations. This behavior is similar to the highway platooning of vehicles. A particular challenge arises when such platoons have to cross waterway intersections. At the intersections, the vessel trains need to interact with others. However, research on the interaction between vehicle platoons is still lacking. This paper focuses on the cooperation of vessels at waterway intersections. We propose a framework for cooperative scheduling and control of CMVSs at intersections. The actions of the vessels are determined by solving two problems: Waterway Intersection Scheduling (WIS) and Vessel Train Formation (VTF). Firstly, the process of the vessels passing through an intersection is regarded as consumption of space and time. The WIS helps to find a conflict-free schedule for the vessels from different directions. By solving the WIS problem, each vessel's desired time of arrival can be determined. Then, the actions of vessels are determined using a distributed model predictive control algorithm in the VTF problem. Agreement among the vessels is achieved via serial iterative negotiations. Simulation experiments are carried out to illustrate the effectiveness of the proposed framework. We compare the passing time of each vessel, and the total passing time in three scenarios: non-cooperative case, partially-cooperative case, and fully-cooperative case. With the proposed cooperative framework, vessels can have smoother trajectories. The total passing time and the passing time for each vessel also benefit from the cooperation. Besides, the proposed framework

关键词： Cooperative Multi-vessel System Waterway Intersection control Vessel Train Formations distributed model predictive control

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Lipid-Stabilized Water-Oil Interfaces Studied by Microfocusing Small-Angle X-ray Scattering

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LANGMUIR 2017年第36期33卷 9100-9105页

作者： Di Cola, Emanuela Torbensen, Kristian Clemente, Ilaria Rossi, Federico Ristori, Sandra Abou-Hassan, Ali Univ Grenoble Alpes Lab Interdisciplinaire Phys F-38402 St Martin Dheres France UPMC Univ Paris 06 Lab Physicochim Elect Nanosyst InterfaciauX PHENIX Sorbonne UnivUMR 8234 F-75252 Paris 05 France Univ Salerno Dept Chem & Biol Fisciano SA Italy Univ Florence Dept Chem I-50019 Sesto Fiorentino Italy Univ Florence CSGI I-50019 Sesto Fiorentino Italy

Water-in-oil (w/o) simple emulsions are dispersed microconfined systems that find applications in many areas of advanced materials and biotechnology, such as the food industry, drug delivery, and cosmetics, to name but a few. In these systems, the structural and chemical properties of the boundary layer at the w/o interface are of paramount importance in determining functionality and stability. Recently, microfluidic methods have emerged as a valuable tool for fabricating monodisperse emulsion droplets. Because of the intrinsic flexibility of microfluidics, different interfaces can be obtained, and general principles governing their stability are needed to guide the experimental approach. Herein, we investigate the structural characteristics of the region encompassing the liquid/liquid (L/L) interface of w/o emulsions generated by a microfluidic device in the presence of phospholipid 1,2,-dimyristoyl-sn-glycero-3-phosphocholine (DMPC) and other intercalating amphiphiles (dopants) using microfocused small-angle X-rays scattering (mu-SAXS). We show that phospholipids provide a stable and versatile boundary film of similar to 100 mu m whose basic units are swollen and uncorrelated DMPC bilayers. The internal arrangement of this interfacial film can be tuned by adding molecules with a different packing parameter, such as cholesterol, which is able to increase the stiffness of the lipid membranes and trigger interbilayer correlation.

关键词： Emulsions Cosmetics Interfaces Phospholipids Advanced materials Microfluidic Devices Oil-water Interfaces Small angle X ray scattering lipid membrane Microfocusing Dimyristoylphosphatidylcholine Microfluidics boundary layer distributed model predictive control Interface

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Cooperative Look-Ahead control for Fuel-Efficient and Safe Heavy-Duty Vehicle Platooning

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2017年第1期25卷 12-28页

作者： Turri, Valerio Besselink, Bart Johansson, Karl H. KTH Royal Inst Technol Dept Automat Control ACCESS Linnaeus Ctr S-11428 Stockholm Sweden

The operation of groups of heavy-duty vehicles at a short inter-vehicular distance, known as platoon, allows one to lower the overall aerodynamic drag and, therefore, to reduce fuel consumption and greenhouse gas emissions. However, due to the large mass and limited engine power of trucks, slopes have a significant impact on the feasible and optimal speed profiles that each vehicle can and should follow. Maintaining a short inter-vehicular distance, as required by platooning, without coordination between vehicles can often result in inefficient or even unfeasible trajectories. In this paper, we propose a two-layer control architecture for heavy-duty vehicle platooning aimed to safely and fuel-efficiently coordinate the vehicles in the platoon. Here, the layers are responsible for the inclusion of preview information on road topography and the real-time control of the vehicles, respectively. Within this architecture, dynamic programming is used to compute the fuel-optimal speed profile for the entire platoon and a distributed model predictive control framework is developed for the real-time control of the vehicles. The effectiveness of the proposed controller is analyzed by means of simulations of several realistic scenarios that suggest a possible fuel saving of up to 12% for follower vehicles compared with the use of standard platoon controllers.

关键词： distributed model predictive control dynamic programming fuel-efficient platooning look-ahead control optimal control platooning safe platooning

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Selection of control structure for distributed model predictive control in the presence of model errors

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JOURNAL OF PROCESS control 2010年第3期20卷 270-284页

作者： Al-Gherwi, Walid Budman, Hector Elkamel, Ali Univ Waterloo Dept Chem Engn Waterloo ON N2L 3G1 Canada

This paper presents a new methodology for selecting control structure in the context of distributed model predictive control. An index was developed to quantify the performance of distributed MPC strategies in the presence of model errors. This index was used for two purposes: to solve the decomposition problem whereby the process is decomposed into parts and to compare distributed MPC strategies with different degrees of coordination. Then, a multi-objective Mixed Integer Nonlinear Programming MINLP formulation is proposed to achieve an optimal trade-off between performance and structure simplicity. Four examples are considered to illustrate the methodology. The simulation results are consistent with the conclusions obtained from the analysis. The proposed methodology can be applied at the design stage to select the best control configuration in the presence of model errors. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： Selection of control structure distributed model predictive control Linear matrix inequalities Robust control

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