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From Linear to Nonlinear Model Predictive control of a Building

IFAC Proceedings Volumes 2014年第3期47卷 587-592页

作者： Matej Pčolka Eva Žáčeková Rush Robinett Sergej Čelikovský Michael Sebek Department of Control Engineering Faculty of Electrical Engineering of Czech Technical University in Prague Czech Republic Mechanical Engineering-Engineering Mechanics Michigan Technological University United States Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Czech Republic

In the building climate control area, the linear model predictive control (LMPC)—nowadays considered a mature technique—benefits from the fact that the resulting optimization task is convex (thus easily and quickly solvable). On the other hand, while nonlinear model predictive control (NMPC) using a more detailed nonlinear model of a building takes advantage of its more accurate predictions and the fact that it attacks the optimization task more directly, it requires more involved ways of solving the non-convex optimization problem. In this paper, the gap between LMPC and NMPC is bridged by introducing several variants of linear time-varying model predictive controller (LTVMPC). Making use of linear time-varying model of the controlled building, LTVMPC obtains predictions which are closer to reality than those of linear time invariant model while still keeping the optimization task convex and less computationally demanding than in the case of NMPC. The concept of LTVMPC is verified on a set of numerical experiments performed using a high fidelity model created in a building simulation environment and compared to the previously mentioned alternatives (LMPC and NMPC) looking at both the control performance and the computational requirements.

关键词： Predictive control adaptive control recursive identification

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An algorithm for design of deadbeat controllers of spatially invariant systems

An algorithm for design of deadbeat controllers of spatially...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Petr Augusta Krzysztof Gałkowski Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Prague Czech Republic Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland

In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. The algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.

关键词： Mathematical model Polynomials Transfer functions Heating Algorithm design and analysis Arrays

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A New Method for Finding Minimum Phase Outputs

A New Method for Finding Minimum Phase Outputs

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IEEE Annual Conference on Decision and control

作者： F. Jahangiri H.A. Talebi M.B. Menhaj C. Ebenbauer F. Allgower Department of Electrical Engineering Amirkabir University of Technology Tehran 15914 Iran Institute for Systems Theory and Automatic Control University of Stuttgart 70550 Stuttgart Germany

ISBN: (纸本)9781467360890

A method for defining output functions for a considered system is proposed such that asymptotic stability of zero dynamics is guaranteed. The basic idea is finding a suitable feedback controller and then calculating its related new output function. A key feature of the proposed method is that no transforming into a normal form is needed.

关键词： Eigenvalues and eigenfunctions Nonlinear dynamical systems Vehicle dynamics Linear systems Vectors Closed loop systems

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Dynamics identification of a damped multi elastic link robot arm under gravity

Dynamics identification of a damped multi elastic link robot...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jörn Malzahn Rene Felix Reinhart Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universität Dortmund Dortmund Germany Research Institute of Cognition & Robotics — CoR-Lab. Bielefeld University Bielefeld Germany

The infinite dimensionality, varying, uncertainties or even unknown boundary conditions render the derivation and - in particular - the identification of accurate dynamics models for elastic link robots tedious and error prone. This contribution circumvents these challenges by the prior application of a model-free inner loop oscillation damping controller before modelling the robot's dynamics. Then, the damped dynamics of a multi elastic link robot arm under gravity can be modelled with high accuracy. An analytical and a data-driven model for the damped dynamics are proposed and quantitatively compared. Both models can explain motor currents as well as link strain measurements in real-time. The paper includes an experimental model validation with different payloads in the entire workspace of the robot.

关键词： Joints Torque Strain Robots Payloads Oscillators Analytical models

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Economical nonlinear model predictive control for building climate control

Economical nonlinear model predictive control for building c...

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2014 American control Conference, ACC 2014

作者： Pcolka, Matej Žáčeková, Eva Robinett, Rush Čelikovsky, Sergej Šebek, Michael Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 166 27 Praha 6 Czech Republic Department of Mechanical Engineering-Engineering Mechanics Michigan Technological University 1400 Townsend Drive Houghton MI United States Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Praha 8 Czech Republic

ISBN: (纸本)9781479932726

In this paper, two alternatives approaches to model predictive control (MPC) are compared and contrasted for the role of zone temperature controller - the commonly used linear formulation (LMPC) and rather unconventional nonlinear formulation (NMPC). The economical focus is reflected by the performance criterion being a combination of the comfort requirements and the monetary cost penalties (price of the consumed hot water and the electricity needed to deliver the water to the building) of the controlled inputs. With this formulation, the optimal controller drives toward minimization of the real price rather than minimization of abstract quantities. It turns out that the NMPC is able to attack the cost minimization directly while retaining a compact optimization formulation as opposed to the suboptimal linear alternative. A considerable part of the superiority of the NMPC can be owed also to the use of a nonlinear model that captures the nonlinear building dynamics much more accurately than the linear models. Thanks to an enhanced search step choice introduced in this paper, the NMPC outperforms both the LMPC and the conventional controller significantly even under severe computational restrictions which demonstrates its strong practical applicability. © 2014 American Automatic control Council.

关键词： Nonlinear systems

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Dynamie output feedback controller design for T-S fuzzy plants with actuator saturation using linear fractional transformation

Dynamie output feedback controller design for T-S fuzzy plan...

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2014 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2014

作者： Liu, Yang Ban, Xiaojun Wu, Fen Lam, H.K. Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China Department of Mechanical and Aerospace Engineering North Carolina State University RaleighNC27695 United States Department of Informatics King's College London Strand LondonWC2R 2LS United Kingdom

ISBN: (纸本)9781479920723

In this paper, a systematic synthesis method for Takagi-Sugeno fuzzy dynamic output feedback controller is proposed for T-S fuzzy plants with actuator saturation. By using the deadzone function, both the T-S fuzzy plant with actuator saturation and the T-S fuzzy dynamic output feedback controller are transformed into the form of linear fractional transformation (LFT). Within the framework of LFT, the issue of stability as well as Hoo performance is cast as a convex optimization problem which can be approached by solving a set of linear matrix inequalities. A numerical example is presented to illustrate the effectiveness of the proposed method. © 2014 IEEE.

关键词： Linear matrix inequalities

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Cooperative Estimation for Synchronization of Heterogeneous Multi-Agent Systems Using Relative Information

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IFAC Proceedings Volumes 2014年第3期47卷 4662-4667页

作者： Jingbo Wu Valery Ugrinovskii Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart 70550 Stuttgart Germany School of Information Technology and Electrical Engineering University of New South Wales at ADFA Australian Defence Force Academy Canberra ACT 2600 Australia

In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements are available, this is of high relevance. The objective is to improve the scalability of the existing distributed estimation algorithms by restricting the agents to estimating only their local states and those of immediate neighbours. The presented estimation algorithm also guarantees robust performance against model and measurement disturbances. It is shown that it can be integrated into output synchronization algorithms.

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Cooperation-based explicit distributed model predictive control

Cooperation-based explicit distributed model predictive cont...

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2013 International Conference on Vehicle and Mechanical engineering and Information Technology, VMEIT 2013

作者： Zhong, Guo Qi Liu, Zhi Yuan Department of Control Theory and Control Engineering Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9783037858202

In this paper, an explicit distributed model predictive control method for a class of linear system with control information coupling by means of multi-parametric programming is established. In order to get close to the optimal performance of centralized MPC, the method is based on cooperation, which solving weighted global cost instead of local ones. The method is employed on distillation column control problem to verify the efficiency. © (2013) Trans Tech Publications, Switzerland.

关键词： Linear systems

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Modeling and simulating for congestion evacuation based on multi-agent approach

Modeling and simulating for congestion evacuation based on m...

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Chinese control Conference (CCC)

作者： Jinhuan Wang Qiongyu Shi Xiaoming Hu Peng Yang School of Control Science and Engineering Hebei University of Technology Tianjin P. R. China Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of Technology Stockholm Sweden

A new multi-agent based congestion evacuation model is proposed in this paper to simulate the pedestrian evacuation process in stadium with or without obstacles, in which each agent's state can be normal, being overtaked and dead. In this model, all the pedestrians are divided into four kinds and each kind has six different classes of competitive ability. The individual action direction is affected by their competitive ability, the distance to the exits and the occupant number and density within the view field of the agent. In the simulation, we present the congestion and death phenomenon as well as the effects of obstacles in evacuation process. We also add a virtual leader to regulate the evacuation effectively. Simulation results show that the proposed model can reproduce exactly the real evacuation process in stadium.

关键词： Simulation Adaptation models Educational institutions Buildings Microscopy Decision making Shape

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High gain observer for embedded Acrobot

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IFAC Proceedings Volumes 2014年第3期47卷 2818-2823页

作者： Milan Anderle Sergej Čelikovský Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Technická 2 166 27 Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Prague Czech Republic

Underactuated mechanical systems are systems with less actuators than degrees of freedom. Therefore, it is complicated to measure all states, i.e. angular positions or angular velocities, of the mechanical system. Alternative solution consists in an observer design such that unmeasurable states are estimated. For this purpose, a high gain observer for an Acrobot was introduced. By virtue of an Acrobot embedding into a 4-link model, the high gain observer was simply extended and applied to the 4-link model. The main aim of this paper consists in a coupling of a method of the Acrobot embedding into the 4-link model and the high gain observer design for the Acrobot. The coupling results in an observer for the 4-link model with the same structure as the already developed high gain observer for the Acrobot model. The control of the 4-link model using the embedding method is based on a definition of constraining functions for knees control whereas the remaining angle in the hip is controlled in the same way as it would be an Acrobot's angle. The ability of feedback tracking of the walking-like trajectory of the 4-link with observed geometry during a swing phase of a single step is demonstrated in simulations.

关键词： Underactuated mechanical systems Embedding High gain observer

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