scholarly journals An input‐to‐state stable model predictive control framework for Lipschitz nonlinear parameter varying systems

2020 ◽  
Author(s):  
Marcelo Menezes Morato ◽  
Julio Elias Normey‐Rico ◽  
Olivier Sename
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Parameter ◽  
Stable Model ◽  
Control Framework ◽  
Parameter Varying

scholarly journals Incorporating model predictive control with fuzzy approximation for robot manipulation under remote center of motion constraint

2021 ◽  
Author(s):  
Hang Su ◽  
Junhao Zhang ◽  
Ziyu She ◽  
Xin Zhang ◽  
Ke Fan ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Robot Manipulator ◽  
Robot Assisted ◽  
External Disturbances ◽  
Fuzzy Approximation ◽  
Control Framework ◽  
Motion Constraint

AbstractRemote center of motion (RCM) constraint has attracted many research interests as one of the key challenges for robot-assisted minimally invasive surgery (RAMIS). Although it has been addressed by many studies, few of them treated the motion constraint with an independent workspace solution, which means they rely on the kinematics of the robot manipulator. This makes it difficult to replicate the solutions on other manipulators, which limits their population. In this paper, we propose a novel control framework by incorporating model predictive control (MPC) with the fuzzy approximation to improve the accuracy under the motion constraint. The fuzzy approximation is introduced to manage the kinematic uncertainties existing in the MPC control. Finally, simulations were performed and analyzed to validate the proposed algorithm. By comparison, the results prove that the proposed algorithm achieved success and satisfying performance in the presence of external disturbances.

Controlling Hand Movements Relying on Tactile Illusions: A Model Predictive Control Framework

2021 ◽  
Author(s):  
Gemma Carolina Bettelani ◽  
Simone Fani ◽  
Alessandro Moscatelli ◽  
Paolo Salaris ◽  
Matteo Bianchi
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Hand Movements ◽  
Control Framework

An Economic Model Predictive Control Approach for Wind Power Smoothing and Tower Load Mitigation

2018 ◽  
Author(s):  
Mohamed M. Alhneaish ◽  
Mohamed L. Shaltout ◽  
Sayed M. Metwalli
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Model Predictive Control ◽  
Wind Power ◽  
Predictive Control ◽  
Economic Model ◽  
Control Algorithm ◽  
Fatigue Load ◽  
Economic Model Predictive Control ◽  
Control Framework

An economic model predictive control framework is presented in this study for an integrated wind turbine and flywheel energy storage system. The control objective is to smooth wind power output and mitigate tower fatigue load. The optimal control problem within the model predictive control framework has been formulated as a convex optimal control problem with linear dynamics and convex constraints that can be solved globally. The performance of the proposed control algorithm is compared to that of a standard wind turbine controller. The effect of the proposed control actions on the fatigue loads acting on the tower and blades is studied. The simulation results, with various wind scenarios, showed the ability of the proposed control algorithm to achieve the aforementioned objectives in terms of smoothing output power and mitigating tower fatigue load at the cost of a minimal reduction of the wind energy harvested.

Experimental Validation of Graph-Based Hierarchical Control for Thermal Management

2018 ◽  
Vol 140 (10) ◽  
Author(s):  
Herschel C. Pangborn ◽  
Justin P. Koeln ◽  
Matthew A. Williams ◽  
Andrew G. Alleyne
Keyword(s):  
Fluid Flow ◽  
Model Predictive Control ◽  
Thermal Management ◽  
Predictive Control ◽  
Experimental Validation ◽  
Hierarchical Control ◽  
Electrical Energy ◽  
Management Systems ◽  
Conservation Of Mass ◽  
Control Framework

This paper proposes and experimentally validates a hierarchical control framework for fluid flow systems performing thermal management in mobile energy platforms. A graph-based modeling approach derived from the conservation of mass and energy inherently captures coupling within and between physical domains. Hydrodynamic and thermodynamic graph-based models are experimentally validated on a thermal-fluid testbed. A scalable hierarchical control framework using the graph-based models with model predictive control (MPC) is proposed to manage the multidomain and multi-timescale dynamics of thermal management systems. The proposed hierarchical control framework is compared to decentralized and centralized benchmark controllers and found to maintain temperature bounds better while using less electrical energy for actuation.

scholarly journals Stable Model Predictive Control Design: Sequential Approach

2011 ◽  
Vol 62 (2) ◽  
pp. 99-103
Author(s):  
Vojtech Veselý
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Design Method ◽  
Control Design ◽  
Sequential Design ◽  
Stable Model ◽  
Sequential Approach ◽  
Prediction Horizon ◽  
Guaranteed Cost ◽  
One Step

Stable Model Predictive Control Design: Sequential Approach The paper addresses the problem of output feedback stable model predictive control design with guaranteed cost. The proposed design method pursues the idea of sequential design for N prediction horizon using one-step ahead model predictive control design approach. Numerical examples are given to illustrate the effectiveness of the proposed method.

A Stochastic Model Predictive Control Framework for Stationary Battery Systems

2018 ◽  
Vol 33 (4) ◽  
pp. 4397-4406 ◽  
Author(s):  
Ranjeet Kumar ◽  
Michael J. Wenzel ◽  
Matthew J. Ellis ◽  
Mohammad N. ElBsat ◽  
Kirk H. Drees ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Stochastic Model ◽  
Predictive Control ◽  
Control Framework ◽  
Battery Systems ◽  
Stochastic Model Predictive Control
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