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检索条件"主题词=Nonlinear Model Predictive Control"

共 1663 条记录，以下是101-110 订阅

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nonlinear model predictive control of a Spacecraft Equipped with Reactions Wheels on SO(3) 10

Nonlinear Model Predictive Control of a Spacecraft Equipped ...

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10th RSI International Conference on Robotics and Mechatronics (ICRoM)

作者： Bagherzadeh, Shiva Karimpour, Hossein Keshmiri, Mehdi Isfahan Univ Technol Isfahan Dept Mech Engn Esfahan Iran Univ Isfahan Dept Mech Engn Esfahan Iran

ISBN: (纸本)9781665454520

In the present work, nonlinear model predictive control of a spacecraft equipped with reaction wheels as the actuators that generate the driving torque for the system is studied. The spacecraft body is also exposed to external disturbance originated from the existence of off-center in the system structure. The system configuration manifold is Lie group SO(3). Discrete equations of motion of the system, referred to as Lie group variational integrators and the NMPC formulation are much more complicated due to the terms added to the equations considering the effects of speed of the wheels and the angular momentum exchanges between the wheels and the spacecraft body and also due to the effects of external disturbances. However, the model of the system and consequently, the obtained results are much more realistic in return. The necessary conditions of optimality are extracted and solved using indirect shooting method based on sensitivity derivatives. Since the equations of motion are established based on Lie group properties, the geometric structure of the system is preserved in long time integration. In addition, the extracted equations are symplectic and momentum preserving and show good energy behavior. The system of a spacecraft with three reaction wheels with the off-center in the z-direction which impose external disturbance to the system is simulated using the extracted equations for NMPC control of spacecraft on SO(3) and the simplification of sensitivity equations is used to reduce the computation time of optimizations. The obtained results show that our method is able to bring the system to the zero position even when there is an off-center in the yaw direction of the spacecraft by structure.

关键词： nonlinear model predictive control Lie Group Variational Integrators SO(3) Reaction Wheels Off-Center Spacecraft

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nonlinear model predictive control for Two-Wheeled Service Robots 15th

Nonlinear Model Predictive Control for Two-Wheeled Service R...

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15th International Conference on Intelligent Autonomous Systems (IAS)

作者： Sekiguchi, Shunichi Yorozu, Ayanori Kuno, Kazuhiro Okada, Masaki Watanabe, Yutaka Takahashi, Masaki Keio Univ Dept Syst Design Engn Kohoku Ku 3-14-1 Hiyoshi Yokohama Kanagawa 2238522 Japan Keio Univ Grad Sch Sci & Technol Kohoku Ku 3-14-1 Hiyoshi Yokohama Kanagawa 2238522 Japan EQUOS RESEARCH Co Ltd 1-11-4 Mikawa Anjo Minamimachi Anjo Aichi 4460058 Japan

ISBN: (纸本)9783030013707;9783030013691

Two-wheeled service robots capable of following a person are an active research topic. These robots will support and follow customers like tourists to many places. It is necessary that an appropriate distance be maintained between the human and the robot. In addition, robots need to not only approach but also turn toward the human to provide services when the human stops walking. Therefore, the control system should change its property depending on the situation. However, many of the previous researches report an algorithm having only one property. Thus, this research proposed a motion control system of a two-wheeled service robot that could turn around while simultaneously following a human. To achieve this, we use nonlinear model predictive control (NMPC) and evaluation function weights depending on the relative distance between robots and human.

关键词： nonlinear model predictive control Two-wheeled robots Service robots Non-holonomic system

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nonlinear model predictive control of a Multistage Evaporator System using Recurrent Neural Networks

Nonlinear Model Predictive Control of a Multistage Evaporato...

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4th IEEE Conference on Industrial Electronics and Applications

作者： Atuonwu, J. C. Cao, Y. Rangaiah, G. P. Tade, M. O. Cranfield Univ Sch Engn Bedford England Natl Univ Singapore Dept Chem & Biomol Engn Singapore Singapore Curtin Univ Technol Dept Chem Engn Perth WA Australia

ISBN: (纸本)9781424427994

The use of multistage evaporators, motivated by the energy economy from reusing the flashed steam is common in a wide range of process industries. Such evaporators however present several control problems which manifest in the form of strong interactions among the many process variables, significant dead times, tendency to open-loop instability and severe nonlinearities. In this paper, a nonlinear model predictive control (NMPC) scheme utilizing a proportional-integral (PI) controller in its inner loop is developed for a simulated industrial-scale five-stage evaporator using a continuous-time recurrent neural network in state space as its internal model. Input-output data obtained from closed-loop system identification experiments are used in training the network by the Levenberg-Marquardt algorithm with automatic differentiation. A similar approach is used in developing an optimal control law for the plant based on the model predictions. The effectiveness of this scheme is tested by simulating various control problem scenarios involving set-point tracking and disturbance rejection and comparing performance with that of decentralized PI controllers developed earlier. Results show significant improvements in control performance, particularly in terms of settling time.

关键词： Multiple-effect evaporators nonlinear model predictive control nonlinear system identification recurrent neural networks automatic differentiation

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nonlinear model predictive control of a Diesel Engine Air Path: A Comparison of Constraint Handling and Computational Strategies

Nonlinear Model Predictive Control of a Diesel Engine Air Pa...

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5th IFAC Conference on nonlinear-model-predictive-control (NMPC)

作者： Huang, Mike Nakada, Hayato Butts, Ken Kolmanovsky, Ilya Univ Michigan Dept Aerosp Engn Ann Arbor MI 48109 USA Toyota Motor Co Ltd Higashi Fuji Tech Ctr Tokyo Japan Toyota Tech Ctr Ann Arbor MI 48105 USA

This paper presents the development of a nonlinear model predictive controller (NMPC) for the diesel engine air path. The objective is to regulate intake manifold pressure (MAP) and compressor flow (MAF) to the specified set-points by coordinated control of the variable geometry turbine (VGT), and exhaust gas recirculation (EGR) valve. The use of NMPC for the diesel engine air path is motivated by the ability of the controller to deal with nonlinear engine dynamics and handle input, and output constraints. However, the control Unit (ECU) has limited computational resources mid the addition of constraints can greatly increase the computational complexity of NMPC. A comparative assessment of the computation time and constraint violation for different constraint handling techniques is presented. The ability of NMPC to regulate MAP and MAF to specified set-points and to enforce constraints is demonstrated through nonlinear model simulations over the New European Drive Cycle (NEDC). (C) 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Engine control constrained control nonlinear model predictive control

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nonlinear model predictive control based on T-S Fuzzy model for a PWR Nuclear Power Plant

Nonlinear Model Predictive Control based on T-S Fuzzy model ...

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26th Chinese control and Decision Conference (CCDC)

作者： Wang, Mengyue Liu, X. J. North China Elect Power Univ Sch Control & Comp Engn Beijing 102206 Peoples R China

ISBN: (纸本)9781479937066

A new approach for power and temperature control in pressurized water reactor (PWR) nuclear power plant using nonlinear model predictive control (MPC) based on T-S fuzzy model is presented. MPC is possibly the only advanced control scheme able to deal with constraints, namely, it can regulate and control system variables within the pre-defined ranges. Nevertheless, it is limited for its theoretical derivation based on linear models. T-S fuzzy modeling method is used for approximating the nonlinear system by local linear models, based on which the nonlinear MPC controller is devised via parallel distributed compensation (PDC) scheme in order to solve the nonlinearity and the constraint problems. The proposed controller presents much better performance than the conventional PID controller in the simulation.

关键词： nonlinear model predictive control T-S fuzzy model power and temperature control

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nonlinear model predictive control to reduce pitch actuation of floating offshore wind turbines 21st

Nonlinear model predictive control to reduce pitch actuation...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Sarkar, Saptarshi Fitzgerald, Breiffni Basu, Biswajit Trinity Coll Dublin Sch Engn Dublin Ireland

Modern-day wind turbines use active pitch control to reduce mechanical loads on the turbines in addition to regulating generator power. These control algorithms increase blade pitch actuation, primarily to reduce the 1P (once per revolution) component of the aerodynamic load. However, it is also known that the failure of the blade pitch system is a significant source of turbine downtime. control algorithms that increase pitch actuation will only add to this problem. Therefore, increasing blade pitch actuation to reduce mechanical loads may not be the best solution is every situation. Hence, in this paper, an individual pitch control strategy is proposed to reduce pitch actuation without deteriorating rotor speed regulation or increasing structural vibrations. The controller is developed under a Non-linear model predictive control (NMPC) framework. It is assumed that a preview of the inflow wind field is available in the form of LIDAR (LIght Detection And Ranging) wind speed measurements. The results presented in this paper show that it is possible to reduce blade pitch actuation below the baseline level while maintaining rated rotor speed. Copyright (C) 2020 The Authors.

关键词： nonlinear model predictive control lidar-based control individual blade pitch control

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nonlinear model predictive control for Energy Efficient Housing with Modern Construction Materials 10

Nonlinear Model Predictive Control for Energy Efficient Hous...

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IEEE Sensors Applications Symposium (SAS)

作者： Novoselnik, Branimir Cesic, Josip Baotic, Mato Petrovic, Ivan Univ Zagreb Fac Elect Engn & Comp Dept Control & Comp Engn Unska 3 Zagreb 10000 Croatia

ISBN: (纸本)9781479961177

The reduction of energy consumption in residential buildings and houses represents a major societal and environmental challenge. A huge portion of energy consumption in houses and buildings goes towards comfort control - heating, ventilation and air conditioning. Modern architecture tackles these problems by considering (i) passive exploitation of solar energy and (ii) use of special construction materials that often have quite complex characteristics. Therefore, a smart energy management control system should be able to take both of these considerations into account. This paper proposes a model predictive control (MPC) strategy for energy efficient management of heating and cooling of a house that can cope with the nonlinearities in the system induced by the use of modern construction materials. Furthermore, the proposed controller takes into account the weather forecast information, in particular the prediction of solar irradiance and air temperature. The nonlinear behavior of the system is approximated by a piecewise affine model and further incorporated into the mixed logical dynamical framework. The performance of the proposed nonlinear MPC is demonstrated in simulation experiments, which show applicability and usefulness of the MPC algorithm for energy management.

关键词： Construction Materials Domestic architecture nonlinear model predictive control Energy efficiency energy consumption heating ventilation and air conditioning modern architectures Energy management Maximum Allowable Concentration nonlinearity Solar Irradiance

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nonlinear model predictive control of a boiler unit: A fault tolerant control study

Nonlinear model predictive control of a boiler unit: A fault...

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Conference on control and Fault-Tolerant Systems (SysTol)

作者： Patan, Krzysztof Korbicz, Jozef Univ Zielona Gora Inst Control & Computat Engn Ul Podgorna 50 PL-65246 Zielona Gora Poland

ISBN: (纸本)9781424481545

This paper deals with a nonlinear model predictive control designed for a boiler unit. The predictive controller is realized by means of a recurrent neural network which acts as an one-step ahead predictor. Then, based on the neural predictor, the control law is derived solving an optimization problem. Fault tolerant properties of the proposed control system are investigated. A set of 12 faulty scenarios is prepared to verify the quality of fault tolerant control.

关键词： boiler unit boilers fault tolerance fault tolerant control quality neural predictor neurocontrollers nonlinear control systems nonlinear model predictive control one-step ahead predictor optimisation optimization problem predictive control predictive controller recurrent neural nets recurrent neural network

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nonlinear model predictive control of the Steam Superheating - Unmeasured Disturbance Suppression 20

Nonlinear Model Predictive Control of the Steam Superheating...

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20th International Conference on Process control (PC)

作者： Opalka, J. Hubka, L. Tech Univ Liberec Inst Mechatron & Comp Engn Studentska 2 Liberec 46117 Czech Republic

ISBN: (纸本)9781467366274

This paper deals with the nonlinear model predictive control of the superheated steam temperature in the power plant once-through boiler. Particularly the controller response on impulse of unmeasured disturbance in the form of flue gas heat is investigated. The two different nonlinear predictive controllers are described in the paper. The feedback of the first controller is closed by nonlinear open loop observer with correction for offset free reference tracking. The second controller works with the close loop state and unmeasured disturbance observer based on the nonlinear moving horizon algorithm. Responses of these two controllers and response of the original controller based on the adaptive PID are compared.

关键词： once-through boiler steam superheating nonlinear model predictive control nonlinear estimation unmeasured disturbance

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nonlinear model predictive control for industrial robot arms based on feedforward compensation 43

Nonlinear model predictive control for industrial robot arms...

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43rd Chinese control Conference (CCC)

作者： Wu, Wei Xie, Mingyang Zhang, Min Wang, Congqing Nanjing Univ Aeronaut & Astronaut Nanjing 210000 Peoples R China

ISBN: (纸本)9798350366907;9789887581581

To address the problems of poor dynamic performance and tracking overshoot of existing control strategies for industrial robot arms, this paper proposed a feedforward compensation-based nonlinear model predictive control (FNMPC) framework to achieve better tracking performance. First, the nonlinear frictional force of a six-degree-of-freedom robot manipulator is obtained by utilizing the least squares parameter identification method, and a more accurate dynamic model of the manipulator is established via the Newton-Euler method. Second, an FNMPC strategy is designed to achieve accurate tracking control of the robot manipulator. Finally, the performance of the proposed FNMPC strategy is verified by conducting a semi-physical simulation comparison experiment. Semi-physical simulation results show that the proposed control strategy exhibits superior performance in terms of dynamic response stationarity and cumulative tracking error.

关键词： Manipulator dynamics Parameter identification nonlinear model predictive control Feedforward compensation Semi-physical simulation

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