Simulation and Research for Generalized Predictive Control

2013 ◽  
Vol 694-697 ◽  
pp. 2205-2210
Author(s):  
Xiao Li Yu
Keyword(s):  
Predictive Control ◽  
Least Square ◽  
The Self ◽  
Dynamic Responses ◽  
Generalized Predictive Control ◽  
Model Parameters ◽  
Recursive Least Square ◽  
Input Signals ◽  
Self Tuning ◽  
Time Invariant

This paper presents analysis and experiments for Generalized Predictive Control (GPC) algorithm based on software simulation. First, we illustrate the time invariant GPC algorithm in detail. Then, we describe the principle for the control parameter selection of GPC based on empirical results. The Recursive Least Square (RLS) algorithm will be used to identify model parameters in the self-tuning GPC. The performance of GPC algorithm is validated by simulation results, which show that the algorithm has rapid and accurate dynamic responses for input signals, such as step signal and square wave. When the model parameters are unknown, with the assistance of RLS, the self-tuning GPC algorithm also presents good performance and robustness capability, even when white Gaussian noise exists.

Application of an Adaptive Forecast Algorithm to the River Västerdalälven

1988 ◽  
Vol 19 (5) ◽  
pp. 293-302 ◽  
Author(s):  
László Iritz
Keyword(s):  
Parameter Estimation ◽  
Systems Theory ◽  
Least Square ◽  
The Self ◽  
Type Model ◽  
Recursive Least Square ◽  
Electronic Engineering ◽  
Self Tuning ◽  
Recursive Least Square Algorithm ◽  
Hydrological Forecast

During the last two decades, advances in electronic engineering, hydrological modelling and systems theory have given considerable benefits to the hydrological forecast developments. Today several powerful adaptive techniques are available, which can improve the reliability of hydrological forecasting. One of these techniques is the self-tuning predictor based on an ARMA type model using direct parameter estimation by recursive least square algorithm. The selftuning predictor has been tested on the River Västerdalälven in Sweden.

Real-time implementation of self-tuning regulator control technique for coupled tank industrial process system

2018 ◽  
Vol 232 (8) ◽  
pp. 1039-1052 ◽  
Author(s):  
Kagan Koray Ayten ◽  
Ahmet Dumlu ◽  
Aliriza Kaleli
Keyword(s):  
Real Time ◽  
Process Model ◽  
Sliding Mode ◽  
Industrial Process ◽  
Least Square ◽  
The Self ◽  
Control Technique ◽  
Recursive Least Square ◽  
Parameter Variations ◽  
Self Tuning

This article presents the self-tuning regulator control technique for a coupled tank liquid level system that often used in industry. An autoregressive with exogenous model has been used as the liquid process model with the self-tuning control implementation in order to track the desired tank level trajectories with disturbances and uncertainties of the system dynamics. The designed self-tuning controller has been sensitive to parameter variations of the nonlinear coupled tank system. The parameters of the proposed controller are periodically updated themselves during the process by means of online recursive least square method with the forgetting factor algorithm. In this way, the parameter variations and unwanted disturbances of the system are eliminated in real-time application. In order to demonstrate the efficiency of the self-tuning regulator control technique, the real-time studies have been executed. The obtained experimental results demonstrated that the proposed controller gives the better trajectory tracking performance and smaller magnitude in overshot and undershot than the designed classical proportional–integral and sliding mode controllers.

Adaptive predictive control of a novel shape memory alloy rod actuator

2020 ◽  
pp. 095965182097448
Author(s):  
S Farzaneh Hoseini ◽  
S Ali MirMohammadSadeghi ◽  
Alireza Fathi ◽  
Hamidreza Mohammadi Daniali
Keyword(s):  
Control System ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Predictive Control ◽  
Smart Materials ◽  
Position Control ◽  
Least Square ◽  
Recursive Least Square ◽  
Shape Memory Alloy Actuator ◽  
Hysteresis Nonlinearity

Shape memory alloys are among the highly applicable smart materials that have recently appealed to scientists from various fields of study. In this article, a novel shape memory alloy actuator, in the form of a rod, is introduced, and an adaptive model predictive control system is designed for position control of the developed actuator. The need for such an advanced control system emanates from the fact that modeling and controlling of shape memory alloy actuators are thwarted by their hysteresis nonlinearity, dilatory response, and high dependence on environmental conditions. Real-time identification and dynamic parameter estimation of the model are addressed according to orthogonal Laguerre functions and recursive least square algorithm. In the end, the designed control system is implemented on the experimental setup of the fabricated shape memory alloy actuator. It is observed that the designed control system successfully tracks the variable step and sinusoidal control references with startling accuracy of ±1 μm.

Resolved Motion Adaptive Control for Mechanical Manipulators

1984 ◽  
Vol 106 (2) ◽  
pp. 134-142 ◽  
Author(s):  
C. S. G. Lee ◽  
B. H. Lee
Keyword(s):  
Adaptive Control ◽  
Low Cost ◽  
Equations Of Motion ◽  
Least Square ◽  
Hand Position ◽  
Recursive Least Square ◽  
Joint Torques ◽  
Hand Trajectory ◽  
Self Tuning ◽  
Mechanical Manipulators

This paper presents the development of a resolved motion adaptive control which adopts the ideas of “resolved motion rate control” [8] and “resolved motion acceleration control” [10] to control a manipulator in Cartesian coordinates for various loading conditions. The proposed adaptive control is performed at the hand level and is based on the linearized perturbation system along a desired hand trajectory. The controlled system is characterized by feedforward and feedback components which can be computed separately and simultaneously. The feedforward component resolves the specified positions, velocities, and accelerations of the hand into a set of values of joint positions, velocities, and accelerations from which the nominal joint torques are computed using the Newton-Euler equations of motion to compensate all the interaction forces among the various joints. The feedback component consisting of recursive least square identification scheme and an optimal adaptive self-tuning controller for the linearized system computes the perturbation torques which reduce the manipulator hand position and velocity errors along the nominal hand trajectory. The feasibility of implementing the proposed adaptive control using present day low-cost microprocessors is explored.

Adaptive Model Predictive Control Research on Regenerative Braking for Electric Bus Cruising Downhill

2016 ◽  
Vol 15 (03) ◽  
pp. 133-150 ◽  
Author(s):  
Zhao Guo-Zhu ◽  
Huang Xiang ◽  
Peng Xing
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Method ◽  
Least Square ◽  
Mode Switching ◽  
Regenerative Braking ◽  
Adaptive Model ◽  
Recursive Least Square ◽  
Braking System ◽  
Adaptive Model Predictive Control

To use regenerative brake and mechanical brake co-operatively to maintain the constant speed and the braking energy can be regenerated as much as possible when vehicles travel downhill, the mathematical model of the braking system is established, and the adaptive model predictive control method is adopted to control the speed of vehicles. The recursive least square algorithm with the forgetting factor is used to identify the road gradient online. And then the control results of the adaptive model predictive control are compared with the results of PID control, simulation results show that the robustness and the stability of the adaptive model predictive control method are better. The speed can be maintained basic stability with the coordinated use of the regenerative braking and the mechanical braking. Meanwhile, the braking energy can be regenerated as much as possible as the regenerative braking system can be used as much as possible. Moreover, as the charge acceptance ability of the battery is restricted, the brake mode switching model is designed. The braking mode can be switched between the electro-mechanical braking system and mechanical braking system according to the SOC of the batteries.

Sign in / Sign up

Export Citation Format

Share Document