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

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model predictive control for Urban Traffic Networks via MILP

Model Predictive Control for Urban Traffic Networks via MILP

引用

American control Conference

作者： Shu Lin Bart De Schutter Yugeng Xi Hans Hellendoorn Department of Automation Shanghai Jiao Tong University No. 800 Dongchuan Road Minhang District Shanghai P.R. China Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands

ISBN: (纸本)9781424474264

model predictive control (MPC) is an advanced control strategy that can easily coordinate urban traffic networks. But, due to the nonlinearity of the traffic model, the optimization problem of the MPC controller will become intractable in practice when the scale of the controlled traffic network grows larger. To solve this problem, the nonlinear traffic model is reformulated into a model with only linear equations and inequalities. Mixed-Integer Linear Programming (MILP) algorithms can efficiently solve the reformulated optimization problem, and guarantee the global optimum at the same time. Moreover, the MILP optimization problem is further relaxed by model reduction and adding upper bound constraints.

关键词： traffic network Traffic models traffic in cities model predictive control predictive control control strategy global optimum Reduced order model nonlinear model predictive control nonlinearity inequalities

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On Optimal Input Design in System Identification for model predictive control

On Optimal Input Design in System Identification for Model P...

引用

IEEE Conference on Decision and control

作者： Christian A. Larsson Mariette Annergren Hakan Hjalmarsson Automatic Control Lab and ACCESS School of Electrical Engineering KTH SE-100 44 Stockholm Sweden

ISBN: (纸本)9781612848006

This paper considers a method for optimal input design in system identification for model predictive control. The objective is to provide the user with a model that guarantees, with high probability, that a specified control performance is achieved. We see that, even though the system is nonlinear, using linear theory in the input design can reduce the experimental effort. The method is illustrated in a minimum power input signal design in identification of a water tank system.

关键词： Input design System identification model predictive control predictive control TANK SYSTEMS control performance nonlinear model predictive control

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Linear model predictive control based on approximate optimal control inputs and constraint tightening

Linear model predictive control based on approximate optimal...

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IEEE Annual Conference on Decision and control

作者： Ion Necoara Valentin Nedelcu Tamas Keviczky Minh Dang Doan Bart de Schutter Automatic Control and Systems Engineering Department University Politehnica Bucharest Romania Delft Center for Systems and Control Delft University of Technology The Netherlands Can Tho University of Technology Vietnam

ISBN: (纸本)9781467357159

In this paper we propose a model predictive control scheme for discrete-time linear time-invariant systems based on inexact numerical optimization algorithms. We assume that the solution of the associated quadratic program produced by some numerical algorithm is possibly neither optimal nor feasible, but the algorithm is able to provide estimates on primal suboptimality and primal feasibility violation. By tightening the complicating constraints we can ensure the primal feasibility of the approximate solutions generated by the algorithm. Finally, we derive a control strategy that has the following properties: the constraints on the states and inputs are satisfied, asymptotic stability of the closed-loop system is guaranteed, and the number of iterations needed for a desired level of suboptimality can be determined.

关键词： nonlinear model predictive control Tightening predictive control control strategy control input Optimization algorithms asymptotic stability region Closed loop systems Approximate iterative methods linear models Optimal control Constraint

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Tracking control and state estimation of a mobile robot based on NMPC and MHE

Tracking control and state estimation of a mobile robot base...

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American control Conference

作者： Awantha Jayasiri Sebastien Gros George K. I. Mann Department of Computer Science Iowa State University Ames USA Department of Computer Science Nihon University Koriyama Japan

ISBN: (纸本)9781467386838

This paper discusses on providing optimization-based solutions to the state estimation and tracking control problems arise in mobile robotics. Estimation problem is solved using Moving Horizon Estimation (MHE) approach and nonlinear model predictive control (NMPC) is used for solving the tracking control problem. The proposed approaches are compared against other two common techniques for state estimation and control. The methods are successfully implemented in simulation. The real time feasibility of the proposed controller is discussed.

关键词： State estimation Mobile robots Silicon Collision avoidance Optimal control Noise measurement State estimation Mobile robots tracking control Noise measurement Collision avoidance Optimal control Silicon nonlinear model predictive control

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On the Effect of Enforcing Stability in model predictive control for Gust Load Alleviation

On the Effect of Enforcing Stability in Model Predictive Con...

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American control Conference

作者： Michael Kopf Hans-Gerd Giesseler Paolo Varutti Timm Faulwasser Rolf Findeisen Institute for Automation Engineering Otto-von-Guericke University Magdeburg Germany Airbus Operations GmbH Hamburg Germany IAV GmbH Gifhorn Germany Laboratoire d'Automatique Ecole Polytechnique Federale de Lausanne Lausanne Switzerland

ISBN: (纸本)9781479917730

Gust load alleviation control refers to the task of attenuating loads acting on an aircraft flying through turbulence. Simulation studies have shown that model predictive control based gust load alleviation strategies can lead to significant load reduction. Application of control strategies in airplanes requires guarantees with respect to reliability, safety, as well as stability. We present nominal stability guarantees for predictive gust load alleviation that are based on terminal penalties and that require no terminal constraint. Furthermore, we analyze the influence of the stabilizing terminal penalty on the achievable load reduction. To this end, we draw upon standard gust types and a fully flexible aircraft model with unsteady aerodynamics that is used as simulated reality.

关键词： nonlinear model predictive control unsteady aerodynamics model predictive control predictive control

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model predictive control for Simultaneous Station Keeping and Momentum Management of Low-Thrust Satellites

Model Predictive Control for Simultaneous Station Keeping an...

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American control Conference

作者： Avishai Weiss Uros Kalabic Stefano Di Cairano Mitsubishi Electric Research Laboratories Cambridge MA Department of Aerospace Engineering University of Michigan Ann Arbor MI

ISBN: (纸本)9781479917730

We propose a model predictive control (MPC) policy for simultaneous station keeping and momentum management of a low-thrust nadir-pointing satellite in geostationary orbit around the Earth. The satellite is equipped with six electrically powered thrusters and three axisymmetric reaction wheels, which must be coordinated to control the satellite's orbital position and, concurrently, unload the wheels' stored angular momentum. The MPC policy enforces constraints that maintain the satellite in a tight latitude and longitude window and in a tight nadir-pointing attitude configuration, while minimizing the delta-v provided by the thrusters. The MPC policy exploits a prediction model of the environmental disturbance forces in order to significantly reduce the delta-v required for station keeping, and enforces constraints determined by the thruster configuration to select control forces and torques that can be generated by the propulsion system. We present numerical simulations of the control policy in closed-loop with the satellite nonlinear dynamics that validate the performance of the proposed design in terms of thruster usage and constraint enforcement.

关键词： STATION KEEPING satellites control strategy low thrust synchronous orbit reaction wheels predictive control Propulsion systems nonlinear model predictive control THRUSTER Torque Earth orbit Wheels Prediction models model predictive control

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model predictive control of Burgers Equation Based on Galerkin models

Model Predictive Control of Burgers Equation Based on Galerk...

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American control Conference

作者： Mathias Hakenberg Dirk Abel Faculty of Mechanical Engineering RWTH Aachen University 52074 Aachen Germany

ISBN: (纸本)9781479901777

A feedback control design for Burgers equation is proposed using a model predictive control approach. A low-order POD Galerkin model derived from a numerical simulation of Burgers equation is used as internal controller model. The reduced-order model accurately predicts the system dynamics as a function of the actuated Dirichlet boundary condition. Closed-loop simulations for reference tracking of a single point inside the computational domain are shown for the ideal case and also in the presence of additional disturbance and measurement noise.

关键词： actuated computational presence burger Burger equation predictive control System dynamics Equation model predictive control distributed model predictive control nonlinear model predictive control Noise measurement single turnout

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model predictive control of interleaved dc-dc stage for photovoltaic microconverters

Model predictive control of interleaved dc-dc stage for phot...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Jaime W. Zapata Samir Kouro Matias Aguirre Thierry Meynard Electronics Engineering Department Universidad Tecnica Federico Santa Maria Institut National Polytechnique de Toulouse University of Toulouse

ISBN: (纸本)9781479917631

The development of different configurations and topologies implemented in photovoltaic (PV) plants have made possible the increase of efficiency of the system. The traditional configurations of grid-connected PV systems, centralized, string, multi-string and ac-module, have been analyzed and actually most of them are controlled using classic PI control. Furthermore, each of them has different efficiency values due to the inherent associated problems. The large-scale PV plants do not work properly when the modules do not work at the same conditions, for example when some atmospheric and environmental problems are involved, it reduces the reliability of the system. The traditional small-scale PV configurations have a low efficiency due to the dc-boosting stage in order to reach the grid levels. This work presents a grid-connected PV configuration, focused in the improve of the efficiency of the traditional ac-module configuration, a flyback topology for the dc-side and a H-bridge topology for the grid connection will be implemented. Moreover, the proposed control scheme is based on FCS-MPC algorithm.

关键词： Polydnaviridae topology PHOTOVOLTAIC configurations model predictive control predictive control Grid computing distributed model predictive control nonlinear model predictive control DC side

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A real-time implementation of an MPC-based Motion Cueing strategy with time-varying prediction (Invited Paper)

A real-time implementation of an MPC-based Motion Cueing str...

引用

IEEE International Conference on Systems, Man, and Cybernetics

作者： Alessandro Beghi Mattia Bruschetta Fabio Maran Department of Information Engineering University of Padova Padova Italy

ISBN: (纸本)9781479906505

Dynamic driving simulators are seeing an increasing interest in the automotive community, both in the research and industrial fields. Different aspects are involved, from virtual prototyping to rehab: racing applications are of particular interest, where simulators are exploited to improve the driver's capabilities and test different vehicle set-ups avoiding the costs of testing on real tracks. The ability of the platform to reproduce as faithfully as possible the driving feelings is crucial in such context: this is the task of Motion Cueing Algorithms. Recently, innovative, MPC-based approaches have been proposed which improve the performance with respect to the classical, filtering-based procedures. The criticality in such approaches is the prediction phase, both for the derivation of reliable reference signals and the computational burden associated with the solution of the optimal problem. In this paper, a first strategy is proposed to derive an affordable reference by exploiting the repetitive pattern typical of the racing context, while a move-blocking approach is integrated to assure real-time capabilities.

关键词： Motion Cueing model predictive control Move-Blocking Dynamic Simulator Prediction dynamic simulator model predictive control predictive control distributed model predictive control nonlinear model predictive control Virtual prototyping Reference signals simulator Racing

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Combining pharmacological therapy and vaccination in Chronic Myeloid Leukemia via model predictive control

Combining pharmacological therapy and vaccination in Chronic...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Marco Laurino Maurizio Stano Monica Betta Gabriele Pannocchia Alberto Landi Department of Surgical Medical Molecular Pathology and of Critical Area University of Pisa Department of Information Engineering (DIE) University of Pisa Department of Civil and Industrial Engineering University of Pisa Extreme Centre Scuola Superiore Sant'Anna

ISBN: (纸本)9781457702150

This paper describes a simulation study which aims at optimizing the therapy for the control of Chronic Myeloid Leukemia according to the following objectives: the reduction of the administered drug and vaccine amounts, the establishment of a auto-immune response and the long-term control of disease without reducing the effective of therapy with respect to the full treatment. A therapy optimization method is developed defining and solving a model predictive control algorithm, preceded by an accurate Initial Guess search based on Monte-Carlo like approach. Simulation results show that the suggested procedure achieves the proposed goals.

关键词： Chronic Myeloid Leukemia predictive control Medicine Myeloid leukemia model predictive control Prophylactic vaccination distributed model predictive control nonlinear model predictive control

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