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nonlinear model predictive control approach in design of Adaptive Cruise control with automated switching to cruise control

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control ENGINEERING PRACTICE 2014年第0期26卷 160-177页

作者： Shakouri, Payman Ordys, Andrzej Kingston Univ London Sch Mech & Automot Engn London SW15 3DW England

In this paper the nonlinear model predictive control (NMPC) is used in designing of Adaptive Cruise control (ACC) and Cruise control (CC) systems. An algorithm is proposed to carry out automatic switching between ACC and CC, depending on the situation in front of the vehicle. Also, an algorithm based on MPC equation is devised to obtain the prediction of future reference trajectories corresponding to desired speed and distance. NMPC equation used in this paper is developed based on state-dependent representation of linear models corresponding to the modes of the operation: accelerating-throttle is active and braking-brake is active. The developed automated ACC system is tested in simulation against different scenarios proving good performance of the system. Furthermore, the results of proposed control algorithm based on NMPC methods are compared with a different ACC structure. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Vehicle dynamic Adaptive Cruise control model predictive control nonlinear model predictive control State-dependent linear model

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nonlinear model predictive control of biodiesel production via transesterification of used vegetable oils

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JOURNAL OF PROCESS control 2013年第10期23卷 1471-1479页

作者： Brasio, Ana S. R. Romanenko, Andrey Leal, Joao Santos, Lino O. Fernandes, Natercia C. P. Univ Coimbra Fac Sci & Technol CIEPQPF Dept Chem Engn P-3030790 Coimbra Portugal Ciengis SA P-3030199 Coimbra Portugal

The economic performance of an industrial scale semi-batch reactor for biodiesel production via transesterification of used vegetable oils is investigated by simulation using nonlinear model predictive control (NMPC) technology. The objective is to produce biodiesel compliant to the biodiesel standards at the minimum costs. A first-principle model is formulated to describe the dynamics of the reactor mixture temperature and composition. The feed oil and mixture composition are characterized using a pseudo-component approach, and the thermodynamic properties are estimated from group contribution methods. The dynamic model is used by the NMPC framework to predict the optimal control profiles, where a multiple shooting based dynamic optimization problem is solved at every sampling time. Simulation results with the economic performance of an industrial scale semi-batch reactor are presented for control configurations manipulating the methanol feed flow rate and the heat duty. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： Biodiesel Transesterification reaction nonlinear model predictive control modeling

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nonlinear model predictive control of a continuous slab reheating furnace

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control ENGINEERING PRACTICE 2013年第4期21卷 495-508页

作者： Steinboeck, A. Wild, D. Kugi, A. Vienna Univ Technol Automat & Control Inst A-1040 Vienna Austria Aktiengesell Dillinger Huttenwerke D-66763 Dillingen Germany

A nonlinear model predictive controller is designed for a continuous reheating furnace for steel slabs. Based on a first-principles mathematical model, the controller defines local furnace temperatures so that the slabs reach their desired final temperatures. The controller is suitable for non-steady-state operating situations and reaching user-defined desired slab temperature profiles. In the control algorithm, a nonlinear unconstrained dynamic optimization problem is solved by the quasi-Newton method. The design of the controller exploits the fact that the considered slab reheating furnace is a continuous production process. Long-term measurement results from an industrial application of the controller demonstrate its reliability and accuracy. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： nonlinear model predictive control Continuous slab reheating furnace nonlinear switched MIMO system Unconstrained optimization Quasi-Newton method

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nonlinear model predictive control for Near-Space Interceptor Based on Finite Time Disturbance Observer

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INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES 2018年第4期19卷 945-961页

作者： Guo, Chao Song, Chen Zhao, Yu-Jie Wang, Jun-Wei Luoyang Optoelectro Technol Dev Ctr Luoyang 471009 Peoples R China Univ Sci & Technol Sch Automat & Elect Engn Beijing 100083 Beijing Peoples R China

This paper proposes a novel nonlinear model predictive control design method based on the finite time disturbance observer (FTDO) and dynamic control allocation (DCA) algorithm for the near-space interceptor (NSI). First, the FTDO is introduced to estimate the mismatched system disturbance. The nonlinear model predictive control scheme based on the estimation value is proposed to obtain the virtual control command, and the mismatched disturbance can be effectively removed from the output channels of the NSI by designing a feed-forward disturbance compensation term with an appropriate compensation gain matrix. Moreover, a new DCA method is given to distribute the above virtual control command among the corresponding actuators (reaction jets and aerodynamic fins). Finally, numerical simulations illustrate that the proposed control scheme can track the command signal with high precision and have strong robustness against the mismatched disturbance.

关键词： Near-space interceptor Finite time disturbance observer nonlinear model predictive control Dynamic control allocation

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nonlinear model predictive control for Path Tracking in High-Speed Corner Entry Situations

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INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY 2022年第5期23卷 1373-1381页

作者： Lee, Jonghyup Choi, Seibum Korea Adv Inst Sci & Technol Mech Engn Daejeon 34141 South Korea

Path tracking control is one of the essential controls for lateral positioning controls such as collision avoidance and lane keeping and changing. In severe situations in which the tire force reaches its limit, such as entering a corner at high speed or in a low-friction situation, not only accurate path tracking but also stable driving must be ensured. In this paper, an integrated braking and steering controller for path tracking is proposed in consideration of the road friction limit. In particular, individual tire forces were predicted using the vehicle and the tire models, and the results were directly compared with the road friction. A nonlinear model predictive controller (NMPC) was utilized for constrained optimal control using nonlinear models. The proposed controller is verified through vehicle simulators Carsim and MATLAB Simulink. Results show the effectiveness of the proposed controller: it guarantees stable driving and accurate tracking performance.

关键词： Path tracking control nonlinear model predictive control Tire forces Road friction limit Intelligent vehicle Sequential quadratic programming

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nonlinear model predictive control of a CO2 Post-Combustion Absorption Unit

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CHEMICAL ENGINEERING & TECHNOLOGY 2012年第3期35卷 445-454页

作者： Akesson, Johan Laird, Carl D. Lavedan, Geoffry Proelss, Katrin Tummescheit, Hubertus Velut, Stephane Zhu, Yu Lund Univ Dept Automat Control S-22100 Lund Sweden Modelon AB Lund Sweden Texas A&M Univ Artie McFerrin Dept Chem Engn College Stn TX USA Ecole Natl Super Energie Eau & Environm St Martin Dheres France

A dynamic model of a chemical CO2 absorption process with aqueous monoethanolamine (MEA) is presented, validated against experimental data. Based on the validated model, a reduced-order model is developed, suitable for an online optimization control strategy. The objective of the optimization is to enable fast adaptations to changes in operating conditions of the power plant, while minimizing the energy consumption in the operation of the CO2 separation plant. The results indicate that model-based online optimization is a feasible technology for control of CO2 separation systems.

关键词： CO2 absorption modelica nonlinear model predictive control Post-combustion absorption

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nonlinear model predictive control using symbolic computation on autonomous marine surface vehicle

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JOURNAL OF MARINE SCIENCE AND TECHNOLOGY 2022年第1期27卷 482-491页

作者： Jiang, Xiaoyong Huang, Langyue Peng, Mengle Li, Zhongyi Yang, Ke-ji Zhejiang Univ Hangzhou 310027 Peoples R China Zhejiang Univ Sci & Technol Hangzhou 310000 Peoples R China

nonlinear model predictive control (NMPC) has become a preferred option particularly for controlling a strongly nonlinear system due to an increase in the availability of powerful cheap computing resources in recent years. However, there are still some hurdles to widely apply the NMPC algorithm for fast nonlinear dynamic systems. One of the primary challenges is how to quickly solve a set of nonlinear differential model equations and a nonlinear dynamic optimization problem in real time. A large portion of the computational problems arises from gradient vector and Hessian matrix derivations and evaluations. In this paper, the problem has been handled using an advanced symbolic computation tool called SymPy. With the symbolic computation, the complex gradient vector, Hessian matrix, and nonlinear dynamic optimization problem are derived analytically and evaluated with machine accuracy. As the rising need for a higher safety level, autonomous marine surface vehicles have been vastly used for various applications in recent years. It is known that model-free methods such as proportional-integral-derivative and nonlinear sliding mode controls are not sufficient to provide a robust control for a highly nonlinear surface vehicles. In this paper, the developed NMPC algorithm has been adopted to solve the two- dimensional trajectory tracking problem for an autonomous marine surface vehicle.

关键词： Autonomous vessels Trajectory tracking nonlinear model predictive control Symbolic computation Hessian matrix

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nonlinear model predictive control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe

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IEEE ROBOTICS AND AUTOMATION LETTERS 2019年第4期4卷 4314-4321页

作者： Zhao, Suping Ruggiero, Fabio Fontanelli, Giuseppe Andrea Lippiello, Vincenzo Zhu, Zhanxia Siciliano, Bruno Northwestern Polytech Univ Natl Key Lab Aerosp Flight Dynam Xian 710072 Shaanxi Peoples R China Univ Naples Federico II CREATE Consortium I-80125 Naples Italy Univ Naples Federico II PRISMA Lab Dept Engn & Informat Technol I-80125 Naples Italy

This letter addresses the task of stabilizing a wheeled unmanned aerial vehicle on a pipe, which is an emerging application in oil and gas facilities for nondestructive measurements. After the derivation of the dynamic model of the system, a discrete-time nonlinear model predictive controller is designed over a finite horizon. The analysis of the asymptotic stability of the designed controller is carried out. Numerical tests show the performance and the robustness of the proposed solution.

关键词： nonlinear model predictive control wheeled unmanned aerial vehicle nondestructive testing

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nonlinear model predictive control of PEMFC anode hydrogen circulation system based on dynamic coupling analysis

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INTERNATIONAL JOURNAL OF HYDROGEN ENERGY 2023年第6期48卷 2385-2400页

作者： Zhu, Yun Zou, Jianxiao Li, Shuai Peng, Chao Xie, Yucen Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China Univ Elect Sci & Technol China Shenzhen Inst Adv Study Shenzhen Peoples R China Swansea Univ Fac Sci & Engn Dept Mech Engn Swansea SA1 8EN Wales

Anode hydrogen circulation system with purge valve has become one of the most effective ways for proton exchange membrane fuel cell (PEMFC) to alleviate performance degrada-tion caused by nitrogen permeation and improve the hydrogen utilization rate. However, nonlinearity and multivariable coupling of the system make it difficult for PEMFC to ach-ieve pressure and hydrogen supply synchronous tracking under complex operating con-ditions. To solve the problem, a novel nonlinear model predictive control scheme based on coupling analysis is proposed in this paper. Firstly, coupling characteristics of the hydrogen circulation system and the control pairing of the multivariable system are analyzed based on the relative gain array method. Then a novel control scheme based on an adaptive model predictive controller and a nonlinear model predictive controller is designed to keep the anode pressure stable and sufficient hydrogen supply, which use nonlinear observers to estimate the internal states online. Finally, the proposed controllers are implemented in control experiments of a 50 kW PEMFC anode hydrogen circulation system. The results demonstrate that the proposed control approach has great dynamic performance, anti -disturbance ability and can maintain a high hydrogen utilization rate under purge opera-tion, current disturbance and uncertain intake pressure.(c) 2022 Hydrogen Energy Publications LLC. Published by Elsevier Ltd. All rights reserved.

关键词： Proton exchange membrane fuel cell (PEMFC) Anode hydrogen circulation system Coupling analysis nonlinear model predictive control

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nonlinear model predictive control of a batch fluidized bed dryer for pharmaceutical particles

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control ENGINEERING PRACTICE 2017年 64卷 88-101页

作者： Gagnon, Francis Desbiens, Andre Poulin, Eric Lapointe-Garant, Pierre-Philippe Simard, Jean-Sebastien Univ Laval Dept Elect & Comp Engn LOOP Quebec City PQ G1V 0A6 Canada Pfizer Proc Analyt Sci Grp Global Mfg Serv Montreal PQ H4R 1J6 Canada

The availability of reliable online moisture content measurements exploiting near-infrared (NIR) spectroscopy and chemometric tools allows the application of online control strategies to a wide range of drying processes in the pharmaceutical industry. In this paper, drying of particles with a pilot-scale batch fluidized bed dryer (FBD) is studied using a in-line NIR probe. A consolidated phenomenological state-space model of an FBD based on mass and energy balances is calibrated applying a nonlinear least-square identification to experimental data (grey-box modeling). Then, relying on the calibrated model, a nonlinear model predictive controller and a moving horizon state estimator are designed. The objective is to reach a specific particle moisture content setpoint at the end of the drying batch while decreasing cycle time and limiting particle temperature. A penalty term on the energy consumption can also be added to the usual tracking control cost function. Compared to a typical FBD operation in industry (mostly open-loop), it is shown that the drying time and the energy consumption can be efficiently managed on the pilot-scale process while limiting various operation problems like under drying, over drying, or particles overheating.

关键词： nonlinear model predictive control Phenomenological model Moving-horizon estimation Batch fluidized bed dryer Near-infrared spectroscopy

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