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Wyszukujesz frazę "model-based predictive control" wg kryterium: Temat

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    Wyświetlanie 1-6 z 6
    Tytuł:
    Non‐linear model‐based predictive control for trajectory tracking and control effort minimization in a smartphone‐based quadrotor
    Autorzy:
    García, Luis
    Rosero, Esteban
    Powiązania:
    https://bibliotekanauki.pl/articles/27314228.pdf
    Data publikacji:
    2022
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    quadrotor
    model-based predictive control
    smartphone
    trajectory tracking
    energy consumption
    Opis:
    In this paper, the design and implementation of a nonlinear model‐based predictive controller (NMPC) for predefined trajectory tracking and to minimize the control effort of a smartphone‐based quadrotor are developed. The optimal control actions are calculated in each iteration by means of an optimal control algorithm based on the non‐linear model of the quadrotor, considering some aerodynamic effects. Control algorithm implementation and simulation tests are executed on a smartphone using the CasADi framework. In addition, a technique for estimating the energy consumed based on control signals is presented. NMPC controller performance was compared with other works developed towards the con‐ trol of quadrotors, based on an H∞ controller and an LQI controller, and using three predefined trajectories, where the NMPC average tracking error was around 50% lower, and average estimated power and energy consumption slightly higher, with respect to the H∞ and LQI controllers.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 4; 13--18
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Adaptive Predictive Controller Using Orthonormal Series Functions
    Autorzy:
    Oliveira, G. H. C.
    Amaral, W. C.
    Favier, G.
    Powiązania:
    https://bibliotekanauki.pl/articles/908308.pdf
    Data publikacji:
    1999
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie predykcyjne
    adaptacyjny układ sterowania
    niepewność
    model-based predictive control
    adaptive control
    uncertain process
    orthonormal series functions
    Opis:
    A constrained adaptive predictive control method that uses uncertain process modelling based on orthonormal series functions is considered. Such unstructured modelling is described as a weighted sum of orthonormal functions using approximate information about the time constant of the process. The orthonormal series functions model can thus be used to derive a j-step-ahead output prediction according to the constrained adaptive predictive control law. In relation to predictive controllers based on structured models, this approach presents the advantage of not requiring prior knowledge of the order or time delay, which decrease prediction errors and lead to a better closed loop performance when these parameters are not well known. Stability issues of the proposed control scheme are discussed and, finally, a simulation example is given to show the performance of the algorithm.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 1999, 9, 1; 175-191
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    EHMAC - a New Simple Tool for Robust Linear Multivariable Control
    Autorzy:
    Latawiec, K. J.
    Rojek, R.
    Powiązania:
    https://bibliotekanauki.pl/articles/911218.pdf
    Data publikacji:
    2000
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie wewnętrzne
    sterowanie predykcyjne
    sterowanie wielowymiarowe
    internal model control
    model-based predictive control
    multivariable control
    orthonormal basis functions
    robust control
    Opis:
    A combination of long range predictive control-originated EHPC and internal model control-structured MAC is shown to produce a new, simple but effective Extended Horizon Model Algorithmic Control (EHMAC). The EHMAC strategy can be used to robustly control open-loop stable non-minimum phase (possibly non-square) MIMO systems under very large model-plant mismatches. Robust EHMAC design is made straightforward by means of a separate selection of a single prediction horizon and an IMC filter parameter, which can be easily auto-tuned.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2000, 10, 3; 575-590
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    State of the Art in Predictive Control of Wheeled Mobile Robots
    Autorzy:
    Harasim, P.
    Trojnacki, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/384731.pdf
    Data publikacji:
    2016
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    wheeled mobile robot
    motion control
    predictive control
    model-based control
    optimization
    Opis:
    The paper is concerned with the problem of tracking control of wheeled mobile robots (WMRs) using predictive control systems. Various kinematic structures of WMRs important from the point of view of motion control are discussed. A hierarchical approach to the problem of motion control of this kind of robots is presented. The problems of trajectory tracking and path following control of WMRs are briefly discussed. The methods of predictive control of WMRs are described in detail and the following aspects relevant to predictive control are considered: kinematic structures of robots, slip of wheels and its compensation, assumed constraints, methods of optimization of the objective function, problems of model nonlinearity, linearization and discretization, stability of the control system and use of the state observers.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 1; 34-42
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Hands-on MPC tuning for industrial applications
    Autorzy:
    Ionescu, C.
    Copot, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/200293.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    step response
    first order plus dead time
    predictive control
    hands-on tuning
    model based control
    model uncertainty
    robustness
    control education
    plant operator
    Opis:
    This paper proposes a practical tuning of closed loops with model based predictive control. The data assumed to be known from the process is the result of the bump test commonly applied in industry and known in engineering as step response data. A simplified context is assumed such that no prior know-how is required from the plant operator. The relevance of this assumption is very realistic in the context of first time users, both for industrial operators and as educational competence of first hand student training. A first order plus dead time is approximated and the controller parameters immediately follow by heuristic rules. Analysis has been performed in simulation on representative dynamics with guidelines for the various types of processes. Three single-input-single-output experimental setups have been used with no expert users available in different locations – both educational and industrial – these setups are representative for practical cases: a variable time delay dominant system, a non-minimum phase system and an open loop unstable system. Furthermore, in a multivariable control context, a train of separation columns has been tested for control in simulation, followed by experimental tests on a laboratory system with similar dynamics, i.e. a sextuple coupled water tank system. The results indicate the proposed methodology is suitable for hands-on tuning of predictive control loops with some limitations on performance and multivariable process control.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 5; 925-945
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Reliability-based economic model predictive control for generalised flow-based networks including actuators’ health-aware capabilities
    Autorzy:
    Grosso, J. M.
    Ocampo-Martinez, C.
    Puig, V.
    Powiązania:
    https://bibliotekanauki.pl/articles/330080.pdf
    Data publikacji:
    2016
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    model predictive control
    flow based network
    dynamic safety stocks
    actuator health
    service reliability
    chance constraints
    economic optimisation
    sterowanie predykcyjne
    niezawodność serwisu
    optymalizacja ekonomiczna
    Opis:
    This paper proposes a reliability-based economic model predictive control (MPC) strategy for the management of generalized flow-based networks, integrating some ideas on network service reliability, dynamic safety stock planning, and degradation of equipment health. The proposed strategy is based on a single-layer economic optimisation problem with dynamic constraints, which includes two enhancements with respect to existing approaches. The first enhancement considers chance-constraint programming to compute an optimal inventory replenishment policy based on a desired risk acceptability level, leading to dynamical allocation of safety stocks in flow-based networks to satisfy non-stationary flow demands. The second enhancement computes a smart distribution of the control effort and maximises actuators’ availability by estimating their degradation and reliability. The proposed approach is illustrated with an application of water transport networks using the Barcelona network as the case study considered.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2016, 26, 3; 641-654
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-6 z 6

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