Stability, Feasibility, Optimality and the Degrees of Freedom in Constrained Predictive Control

2000 ◽  
pp. 99-113 ◽  
Author(s):  
Basil Kouvaritakis ◽  
Mark Cannon ◽  
J. Anthony Rossiter
Keyword(s):  
Predictive Control ◽  
Degrees Of Freedom

Damage-Mitigating Predictive Control of Airfoil Flutter for a General Hypersonic Flight Vehicle

2019 ◽  
Vol 141 (5) ◽  
Author(s):  
Xiaohui Zhang ◽  
Yuhui Wang ◽  
Xingkai Feng ◽  
Siyuan Hou
Keyword(s):  
Predictive Control ◽  
Degrees Of Freedom ◽  
Unsteady Aerodynamics ◽  
Flight Vehicle ◽  
Hypersonic Flight Vehicle ◽  
Hypersonic Flight ◽  
Online Simulation ◽  
Nonlinear Predictive Control ◽  
Predictive Controller ◽  
Damage Accumulation Model

Abstract This paper aims to investigate the airfoil flutter damage-mitigating problem in hypersonic flow. A new adaptive robust nonlinear predictive control law is designed in this paper to mitigate the damage during airfoil flutter of a generic hypersonic flight vehicle. A three-degrees-of-freedom airfoil dynamic motion model is established, in which the third piston theory is employed to derive the unsteady aerodynamics. Then, the complicated responses of the hypersonic airfoil flutter model are analyzed. In order to mitigate the damage of the airfoil, a predictive controller is designed by introducing an adaptive predictive period, and asymptotical stability analysis of the robust nonlinear predictive controller is performed. Subsequently, based on the nonlinear aerodynamics of the airfoil and damage accumulation model, the damage of the airfoil is observed online. Simulation results illustrate the effectiveness of the proposed method.

scholarly journals Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control

2017 ◽  
Author(s):  
Zhengru Ren ◽  
Roger Skjetne ◽  
Zhen Gao
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Pid Controller ◽  
Degrees Of Freedom ◽  
Multiple Shooting ◽  
Control Input ◽  
Lumped Mass ◽  
Modeling And Control ◽  
Overload Protection ◽  
And Control

This paper deals with a nonlinear model predictive control (NMPC) scheme for a winch servo motor to overcome the sudden peak tension in the lifting wire caused by a lumped-mass payload at the beginning of a lifting off or a lowering operation. The crane-wire-payload system is modeled in 3 degrees of freedom with the Newton-Euler approach. Direct multiple shooting and real-time iteration (RTI) scheme are employed to provide feedback control input to the winch servo. Simulations are implemented with MATLAB and CaSADi toolkit. By well tuning the weighting matrices, the NMPC controller can reduce the snatch loads in the lifting wire and the winch loads simultaneously. A comparative study with a PID controller is conducted to verify its performance.

scholarly journals Optimization-Based Control Concept with Feed-in and Demand Peak Shaving for a PV Battery Heat Pump Heat Storage System

Energies ◽  
2019 ◽  
Vol 12 (11) ◽  
pp. 2098 ◽  
Author(s):  
Ronny Gelleschus ◽  
Michael Böttiger ◽  
Thilo Bocklisch
Keyword(s):  
Model Predictive Control ◽  
Heat Pump ◽  
Predictive Control ◽  
Degrees Of Freedom ◽  
Heat Storage ◽  
Storage System ◽  
Energy Storage System ◽  
Electricity Sector ◽  
Storage Device ◽  
Flexibility Options

The increasing share of renewable energies in the electricity sector promotes a more decentralized energy supply and the introduction of new flexibility options. These flexibility options provide degrees of freedom that should be used optimally. Therefore, in this paper, a model predictive control-based multi-objective optimizing energy management concept for a hybrid energy storage system, consisting of a photovoltaics (PV) plant, a battery, and a combined heat pump/heat storage device is presented. The concept’s objectives are minimal operation costs and reducing the power exchanged with the electrical grid while ensuring user comfort. In order to prove the concept to be viable and its objectives being fulfilled, investigations based on simulations of one year of operation have been carried out. Comparisons to a simple rule-based strategy and the same model predictive control scheme with ideal forecasts prove the concept’s viability while showing improvement potential in the treatment of nonlinear system behavior, caused by nonlinear battery losses, and of forecast uncertainties.

Fuzzy Predictive Control Using Particle Swarm Optimization: Application to SCARA Robot

2014 ◽  
Vol 527 ◽  
pp. 230-236
Author(s):  
Mohamed Laid Hadjili ◽  
Kamel Kara ◽  
Oussama Ait Sahed ◽  
Jamal Bouyanzar
Keyword(s):  
Particle Swarm Optimization ◽  
Predictive Control ◽  
Degrees Of Freedom ◽  
Particle Swarm ◽  
Fuzzy Model ◽  
Robot Arm ◽  
Swarm Optimization ◽  
Modified Particle Swarm Optimization ◽  
Compliant Assembly ◽  
Fuzzy Predictive Control

In this work a fuzzy model-based predictive control (FMPC) method that uses modified particle swarm optimization (PSO) is presented. The main objective of this work is the application of this method to the control of a Selective Compliant Assembly Robot Arm (SCARA) with four degrees of freedom (4-DOF).

MPC Based Feedback-Linearization Strategy of a Fixed-Wing UAV

2020 ◽  
Author(s):  
Leonardo A. A. Pereira ◽  
Luciano C. A. Pimenta ◽  
Guilherme V. Raffo
Keyword(s):  
Predictive Control ◽  
Control Strategy ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Vehicle Control ◽  
Control Allocation ◽  
Linearization Technique ◽  
Aerial Vehicle ◽  
The Relationship ◽  
Curve Tracking

This work proposes a xed-wing UAV (Ummaned Aerial Vehicle) control strategy based on feedback-linearization and model predictive control (MPC). The strategy makes use of the relationship between the applied control inputs of the UAV and the generalized forces and moments actuating on it. A linear model is obtained by the exact feedback-linearization technique, followed by the use of MPC to solve the trajectory tracking and the control allocation problems. The proposed controller is capable of actuating on the 6 DOF (Degrees of Freedom) of the UAV, avoiding inherited restrictions when the model is decoupled. The proposed strategy is applied in a curve tracking task. Simulations are performed using MATLAB software, and the results show the eciency of the proposed control strategy.

scholarly journals Optimal Design of a Solar Desalination Unit with Heliostats

2017 ◽  
Vol 2017 ◽  
pp. 1-13
Author(s):  
M. Abidi ◽  
S. Ben Jabrallah ◽  
J. P. Corriou
Keyword(s):  
Predictive Control ◽  
Degrees Of Freedom ◽  
Water Film ◽  
Vapor Condensation ◽  
The North ◽  
Solar Desalination ◽  
Water Vapor Condensation ◽  
The One ◽  
Vertical Cell ◽  
Solar Rays

The objective is to improve the yield of a solar desalination cell using concentration of solar rays by means of automatically controlled heliostats. The vertical cell is orientated towards the north. It is mainly composed of two plates; the one being heated by the solar rays reflected by the mirrors is used for evaporation of a falling water film; the other one is used for water vapor condensation. Each heliostat consists of an altitude-azimuth mount having two degrees of freedom and supporting a plane mirror. The heliostat permanently follows the sun trajectory and reflects the solar rays on the cell by means of automatic control implemented in a control card based on a microcontroller. Model predictive control allows us to maximize the distilled water production.

scholarly journals DESIGN CONTROL OF SURFACE MARINE VEHICLE USING DISTURBANCE COMPENSATING MODEL PREDICTIVE CONTROL (DC-MPC)

2021 ◽  
Vol 15 (1) ◽  
pp. 167-178
Author(s):  
Sari Cahyaningtias ◽  
Tahiyatul Asfihani ◽  
Subchan Subchan
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Sea Waves ◽  
Ship Maneuvering ◽  
Environmental Disturbances ◽  
Advanced Control ◽  
The Given ◽  
Marine Vehicle

This research studied ship motion control by considering four degrees of freedom (DoF): yaw, roll, sway, and surge in which comprehensive mathematical modeling forming a nonlinear differential equation. Furthermore, this research also investigated solutions for fundamental yet challenging steering problems of ship maneuvering using advanced control method: Disturbance Compensating Model Predictive Control (DC-MPC) method, which based on Model Predictive Control (MPC). The DC-MPC allows optimizing a compensated control then consider sea waves as the environmental disturbances. Those sea waves influence the control and also becomes one of the constraints for the system. The simulation compared the varying condition of Horizon Prediction (Np) and another method showing that the DC-MPC can manage well the given disturbances while maneuvering in certain Horizon Prediction. The results revealed that the ship is stable and follows the desired trajectory

Move blocking Model Predictive Control of a helicopter with three degrees of freedom

2020 ◽  
Author(s):  
Rogério Toniere Giovanelli ◽  
Rubens Junqueira Magalhães Afonso
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Degrees Of Freedom ◽  
Stable Region ◽  
Linear Matrix ◽  
Feedback Gain ◽  
Control Law ◽  
Matrix Inequalities ◽  
Blocking Algorithm ◽  
Three Degrees Of Freedom

This work presents the use of a move blocking algorithm in the Model Predictive Control (MPC) of a helicopter with three degrees of freedom (3DoF). Considerations about the feasibility of the MPC solutions and robustness of the control law are developed to propose an internal feedback gain array using Linear Matrix Inequalities (LMIs). The objective of this structure is to grant adjustment  exibility of the plant dynamics through a D-stable region and to reduce the computational complexity of the problem.

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