subject:(Predictive controller)

Delft University of Technology

1. Siddaramappa, A. (author). Rigid Formation Control using Hovercrafts: A Spatial Model Predictive Control Approach.

Degree: 2015, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:3b025de3-52ff-45d3-ab80-05cf2e450ec9

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The steady increase in volume of goods to be transported over land and water has necessitated the development of efficient and alternative methods of transportation.… (more)

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The steady increase in volume of goods to be transported over land and water has necessitated the development of efficient and alternative methods of transportation. In current practices considerable amount of transportation delay is caused due to switching between different modes of transportation resulting in economic losses. Another difficulty in the transportation sector arises when handling extremely large objects, such as wind turbines and cargo containers. In order to overcome these difficulties, an alternative method of transportation has been proposed recently. The proposed alternative method consists of the development of a formation control framework using hovercrafts. Formation control is a widely researched topic due its potential benefits in reducing the system cost, structure flexibility and improving the efficiency of the overall system. State-of-the-art methods for formation control are focused towards developing a controller to track a predefined trajectory, and the trajectory generation is an additional problem which is addressed off-line. A path tracking formation control framework is an area which has received less attention in the literature and can have possible improvements. Hence, this thesis work answers the research question of generating a feasible path for a set of initial and final conditions, and tracking the generated path. Model Predictive Controller (MPC) is a promising framework, because of its constraint handling capabilities. Hence, it accounts for the major component of this thesis. A new framework for formation control is proposed which uses spatial-domain parametrization instead of the conventional time-domain parametrization. MPC being a computationally expensive task, the proposed framework reduces the number of decision variables and constraint evaluations which can help to achieve the desired Real Time performance. The specific research question addressed in this thesis work is to develop a path tracking formation control framework while minimising the absolute and relative position error for each vehicle in the formation. A nonlinear dynamic model for the hovercraft is obtained using first principles and its structure is used to design an optimization based controller. An Optimal Control Problem (OCP) is formulated which is solved using direct collocation method. In this method a continuous problem is discretized into a number of collocation points, and the resulting problem is solved using state-of-the-art Nonlinear Program solvers such as, SNOPT and NPSOL. The performance of the proposed framework is illustrated using numerical simulations.

Systems and Control

Delft Center for Systems and Control

Mechanical, Maritime and Materials Engineering

Advisors/Committee Members: Keviczky, T. (mentor).

Subjects/Keywords: Model Predictive Controller; Formation Control; Hovercraft

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APA (6^th Edition):

Siddaramappa, A. (. (2015). Rigid Formation Control using Hovercrafts: A Spatial Model Predictive Control Approach. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:3b025de3-52ff-45d3-ab80-05cf2e450ec9

Chicago Manual of Style (16^th Edition):

Siddaramappa, A (author). “Rigid Formation Control using Hovercrafts: A Spatial Model Predictive Control Approach.” 2015. Masters Thesis, Delft University of Technology. Accessed January 18, 2021. http://resolver.tudelft.nl/uuid:3b025de3-52ff-45d3-ab80-05cf2e450ec9.

MLA Handbook (7^th Edition):

Siddaramappa, A (author). “Rigid Formation Control using Hovercrafts: A Spatial Model Predictive Control Approach.” 2015. Web. 18 Jan 2021.

Vancouver:

Siddaramappa A(. Rigid Formation Control using Hovercrafts: A Spatial Model Predictive Control Approach. [Internet] [Masters thesis]. Delft University of Technology; 2015. [cited 2021 Jan 18]. Available from: http://resolver.tudelft.nl/uuid:3b025de3-52ff-45d3-ab80-05cf2e450ec9.

Council of Science Editors:

Siddaramappa A(. Rigid Formation Control using Hovercrafts: A Spatial Model Predictive Control Approach. [Masters Thesis]. Delft University of Technology; 2015. Available from: http://resolver.tudelft.nl/uuid:3b025de3-52ff-45d3-ab80-05cf2e450ec9

2. Tisell, Oscar. Design, implementation, and evaluation of vehicle control systems using a side slip estimator .

Degree: Chalmers tekniska högskola / Institutionen för mekanik och maritima vetenskaper, 2019, Chalmers University of Technology

URL: http://hdl.handle.net/20.500.12380/300491

► Vehicle control systems have been integral to the performance and stability of a vehicle. In this thesis, two vehicle control strategies namely, the yaw controller… (more)

Subjects/Keywords: model predictive control; vehicle model; yaw controller; yaw-beta controller; magic tire formula

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APA (6^th Edition):

Tisell, O. (2019). Design, implementation, and evaluation of vehicle control systems using a side slip estimator . (Thesis). Chalmers University of Technology. Retrieved from http://hdl.handle.net/20.500.12380/300491

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tisell, Oscar. “Design, implementation, and evaluation of vehicle control systems using a side slip estimator .” 2019. Thesis, Chalmers University of Technology. Accessed January 18, 2021. http://hdl.handle.net/20.500.12380/300491.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tisell, Oscar. “Design, implementation, and evaluation of vehicle control systems using a side slip estimator .” 2019. Web. 18 Jan 2021.

Vancouver:

Tisell O. Design, implementation, and evaluation of vehicle control systems using a side slip estimator . [Internet] [Thesis]. Chalmers University of Technology; 2019. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/20.500.12380/300491.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tisell O. Design, implementation, and evaluation of vehicle control systems using a side slip estimator . [Thesis]. Chalmers University of Technology; 2019. Available from: http://hdl.handle.net/20.500.12380/300491

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

3. Glastra, Thom (author). Enabling GLOSA for on-street operating traffic light controllers.

Degree: 2020, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:63a21739-a200-4375-8f19-641352e504b2

► The bottleneck of the maximum road volume in urban areas is the maximum capacity of the traffic flow on the intersection, which is coordinated with… (more)

▼ The bottleneck of the maximum road volume in urban areas is the maximum capacity of the traffic flow on the intersection, which is coordinated with Traffic Light Controllers (TLCs). A promising method to decrease the number of stops are Green Light Optimal Speed Advice (GLOSA) systems. These systems will give a speed advice to arriving vehicles based on the schedule of TLCs, which needs to be known and fixed. However, most on-street controllers change their schedule until the last moment to maximize the performance. In this thesis a predictive controller is developed that is suitable for real-world application based on DIRECTOR; a state-of-the-art predictive controller. A prediction model is used to predict future arrivals based on available measurements to optimize and fix the schedule in advance. The proposed controller can enable GLOSA systems to improve performance. Appropriate pre-processing steps are implemented and the optimal input features are selected to improve the performance of a Long Short-Term Memory (LSTM) network to predict future arrivals. All detection data is stationary over time by using the differenced series. The time data is divided into workdays and weekend days to create a binary input and undesirable jumps during midnight are removed. The combination of stop line detectors, queue detectors, arrival detectors and signal states of the controlled and preceding intersections as input maximized the performance. The prediction horizon of the proposed prediction model could be extended. The Normalized Root Mean Square Error (NRMSE) decreased with 17% compared to DIRECTOR. The proposed controller extends the control horizon and uses multiple prediction models to predict the arrivals for the entire control horizon. The proposed controller outperforms DIRECTOR with 14 - 38% reduction in terms of vehicle delay and 5 - 32% reduction in terms of numbers of stops based on the scheduling mode. The GLOSA system is an add-on of the controller and is able to operate without the GLOSA system. The control horizon of the proposed controller always has a fixed length which is needed to determine the time until green. The implemented GLOSA system will determine the optimal speed based on the time until green and the expected delay due to the surrounding vehicles. The proposed controller is a cloud controlled application. Therefore, it is possible to adjust the setup (i.e. scheduling modes) during the day. Enabling GLOSA all day except during rush hours will lead to 3 - 4% reduction in terms of vehicle delay and 29 - 32% reduction in terms of numbers of stops based on the scheduling mode. This setup of the proposed controller is also competitive with the hand-crafted non-predictive on-street controller. Compared with this controller, the proposed controller will reduce the number of stops with 26% at the cost of 16% increase in vehicle delay. The proposed controller is designed conform the safety standards used on-street. Permission is received from the provincial government to do on-street pilots with the… Advisors/Committee Members: Gavrila, Dariu (graduation committee), Kooij, Julian (mentor), Wang, Meng (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Traffic flow; Traffic light controller; TLC; Predictive controller; Prediction model; Decentralized control; Model predictive control; green light optimal speed advise; GLOSA

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APA (6^th Edition):

Glastra, T. (. (2020). Enabling GLOSA for on-street operating traffic light controllers. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:63a21739-a200-4375-8f19-641352e504b2

Chicago Manual of Style (16^th Edition):

Glastra, Thom (author). “Enabling GLOSA for on-street operating traffic light controllers.” 2020. Masters Thesis, Delft University of Technology. Accessed January 18, 2021. http://resolver.tudelft.nl/uuid:63a21739-a200-4375-8f19-641352e504b2.

MLA Handbook (7^th Edition):

Glastra, Thom (author). “Enabling GLOSA for on-street operating traffic light controllers.” 2020. Web. 18 Jan 2021.

Vancouver:

Glastra T(. Enabling GLOSA for on-street operating traffic light controllers. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Jan 18]. Available from: http://resolver.tudelft.nl/uuid:63a21739-a200-4375-8f19-641352e504b2.

Council of Science Editors:

Glastra T(. Enabling GLOSA for on-street operating traffic light controllers. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:63a21739-a200-4375-8f19-641352e504b2

Delft University of Technology

4. Jeschke, Joost (author). Parametrized Model Predictive Control in Urban Traffic Networks: Towards real-time implementation.

Degree: 2020, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:c06da4ef-733f-4d78-9d61-7232363af974

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Model Predictive Control (MPC) has shown promising results in the control of urban traffic networks, but has one major drawback. The, often nonlinear, optimization that… (more)

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Model Predictive Control (MPC) has shown promising results in the control of urban traffic networks, but has one major drawback. The, often nonlinear, optimization that has to be performed at every control time step is computationally too complex to use MPC controllers for real-time implementations (i.e. when the online optimization is performed within the control time interval of the controlled system). This thesis proposes a parametrized MPC control approach to lower the computational complexity of the MPC controllers and to strive for real-time implementability. In parametrized MPC, the original decision variables (i.e. the inputs of the system) become a function of a parametrized control law and the parameters of this control law become the new decision variables of the optimization problem. The goal is to lower the computational complexity by reducing the number of decision variables with limited performance decrease. In this thesis, three parametrized control laws are proposed that can be used in the parametrized MPC approach for urban traffic networks. These three control laws are constructed based on the prediction model of the (parametrized) MPC controller, on ART-UTC, an existing control method, and by using supervised learning. The system performance and computational complexity of the different parametrized MPC controllers are compared to that of a conventional MPC controller by performing an extensive simulation-based case study in which different optimization algorithms, emissions, and parameter update time steps are considered. The simulation results show that the control law based on the prediction model results in a parametrized MPC controller which is real-time implementable, uses 2 parameters that are constant over the control horizon per intersection, and has a system performance decrease of less than 3%.

Mechanical Engineering | Systems and Control

Advisors/Committee Members: De Schutter, B. (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: Model Predictive Control; Urban Traffic Control; Parametrized Controller; Parametrized Model Predictive Control

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APA (6^th Edition):

Jeschke, J. (. (2020). Parametrized Model Predictive Control in Urban Traffic Networks: Towards real-time implementation. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:c06da4ef-733f-4d78-9d61-7232363af974

Chicago Manual of Style (16^th Edition):

Jeschke, Joost (author). “Parametrized Model Predictive Control in Urban Traffic Networks: Towards real-time implementation.” 2020. Masters Thesis, Delft University of Technology. Accessed January 18, 2021. http://resolver.tudelft.nl/uuid:c06da4ef-733f-4d78-9d61-7232363af974.

MLA Handbook (7^th Edition):

Jeschke, Joost (author). “Parametrized Model Predictive Control in Urban Traffic Networks: Towards real-time implementation.” 2020. Web. 18 Jan 2021.

Vancouver:

Jeschke J(. Parametrized Model Predictive Control in Urban Traffic Networks: Towards real-time implementation. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Jan 18]. Available from: http://resolver.tudelft.nl/uuid:c06da4ef-733f-4d78-9d61-7232363af974.

Council of Science Editors:

Jeschke J(. Parametrized Model Predictive Control in Urban Traffic Networks: Towards real-time implementation. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:c06da4ef-733f-4d78-9d61-7232363af974

University of Melbourne

5. Gowri Sankar, Gokul Siva Sankar. Robust predictive control of diesel airpath.

Degree: 2019, University of Melbourne

URL: http://hdl.handle.net/11343/230607

► In an automotive diesel airpath application, the controller is required to track reference values of intake manifold (boost) pressure and exhaust gas recirculation (EGR) rate.… (more)

▼ In an automotive diesel airpath application, the controller is required to track reference values of intake manifold (boost) pressure and exhaust gas recirculation (EGR) rate. EGR rate is the ratio of the EGR outflow rate to the combined EGR and compressor outflow rates. The reference values for these output variables are determined by a high level controller based on the current engine operating condition characterised by an engine rotational speed and a fuelling rate. Perfect tracking of these references in a drive cycle ensures optimal driver demand responsiveness, fuel efficiency, and satisfaction of legislated emission limits. However, diesel engine airpath control is challenging owing to its nonlinear multivariable nature. Conventional approaches use look-up tables and proportional-integral-differential (PID) loops ignoring the cross-sensitivities that can affect the controller performance. Furthermore, these approaches do not guarantee satisfaction of operating and reliability constraints on manifold pressures and physical limitations of the actuators. On the other hand, the constraint handling ability of model predictive control (MPC) makes it an ideal choice of control architecture for constrained multi-input multi-output systems, such as diesel engines. However, efficient calibration of typical implementations of MPC is hindered by the high number of tuning parameters and their non-intuitive correlation with the output response. Additionally, modelling errors might lead to constraint violation and loss of recursive feasibility. This thesis proposes a robust switched linear time invariant (LTI) MPC architecture for diesel airpath that utilises multiple local controllers that require low calibration effort. In order to reduce the number of effective tuning parameters to aid rapid calibration, first, structural modifications are introduced to the traditional MPC formulation by constraining the outputs within exponentially decaying envelopes and an appropriate cost function parameterisation. Subsequently, a methodology based on sequential convex program (SCP) is proposed to estimate maximal disturbance set that can be handled by each local controller under limited control authority arising due to input saturations typically observed in diesel engine operation. Constraint tightening approach is used to provide robust feasibility guarantees in the face of uncertainties originating from the maximal disturbance set and due to controller switching. In addition, a procedure is proposed for identifying the switched controllers requiring further tuning using feedback from performance over drive cycles. The developed switched LTI-MPC architecture is implemented on rapid prototyping hardware and experimentally demonstrated on a diesel engine test rig. The calibration efficacy of the controller architecture is demonstrated at a steady state condition for fuelling steps and over drive cycles. Furthermore, the control system is shown to track output references while maintaining all input and state constraints in…

Subjects/Keywords: model predictive control; robust model predictive control; model predictive controller calibration; advanced automotive control; diesel engines

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Gowri Sankar, G. S. S. (2019). Robust predictive control of diesel airpath. (Doctoral Dissertation). University of Melbourne. Retrieved from http://hdl.handle.net/11343/230607

Chicago Manual of Style (16^th Edition):

Gowri Sankar, Gokul Siva Sankar. “Robust predictive control of diesel airpath.” 2019. Doctoral Dissertation, University of Melbourne. Accessed January 18, 2021. http://hdl.handle.net/11343/230607.

MLA Handbook (7^th Edition):

Gowri Sankar, Gokul Siva Sankar. “Robust predictive control of diesel airpath.” 2019. Web. 18 Jan 2021.

Vancouver:

Gowri Sankar GSS. Robust predictive control of diesel airpath. [Internet] [Doctoral dissertation]. University of Melbourne; 2019. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/11343/230607.

Council of Science Editors:

Gowri Sankar GSS. Robust predictive control of diesel airpath. [Doctoral Dissertation]. University of Melbourne; 2019. Available from: http://hdl.handle.net/11343/230607

University of Alberta

6. Iqbal, Mohammad Hasan. Advanced control of the twin screw extruder.

Degree: PhD, Department of Chemical and Materials Engineering, 2010, University of Alberta

URL: https://era.library.ualberta.ca/files/2f75r837g

► This research deals with the modeling and control of a plasticating twin screw extruder (TSE) that will be used to obtain consistent product quality. The… (more)

▼ This research deals with the modeling and control of a plasticating twin screw extruder (TSE) that will be used to obtain consistent product quality. The TSE is a widely used process technology for compounding raw polymers. Compounding creates a polymer with improved properties that satisfy the demand of modern plastic applications. Modeling and control of a TSE is challenging because of its high nonlinearity, inherent time delay, and multiple interactive dynamic behavior. A complete methodology is proposed in this thesis to design an advanced control scheme for a TSE. This methodology was used to develop a model predictive control scheme for a laboratory scale plasticating TSE and to implement the control scheme in real-time. The TSE has a processing length of 925 mm and a length to screw diameter ratio (L/D) of 37. High density polyethylenes with different melt indices were used as processing materials. Manipulated variables and disturbance variables were selected based on knowledge of the process. Controlled variables were selected using a selection method that includes a steady state correlation between process output variables and product quality variables, and dynamic considerations. Two process output variables, melt temperature (Tm) at the die and melt pressure (Pm) at the die, were selected as controlled variables. A new modeling approach was proposed to develop grey box models based on excitation in the extruder screw speed (N), one of the manipulated variables. The extruder was excited using a predesigned random binary sequence (RBS) type excitation in N and nonlinear models relating Tm and Pm to N were developed using this approach. System identification techniques were used to obtain model parameters. The obtained models have an autoregressive moving average with exogenous (ARMAX) input structure and the models explain the physics of the extrusion process successfully. The TSE was also excited using a predesigned RBS in the feed rate (F) as a manipulated variable. Models relating Tm and Pm to F were developed using a classical system identification technique; both models have ARMAX structures. The model between Pm and F was found to give excellent prediction for data obtained from a stair type excitation, indicating that the obtained models provide a good representation of the dynamics of the twin screw extruder. Analysis of the TSE open loop process indicated two manipulated variables, N and F, and two controlled variables, Tm and Pm. Thus, a model predictive controller (MPC) was designed using the developed models for this 2X2 system and implemented in real-time. The performance of the MPC was studied by checking its set-point tracking ability. The robustness of the MPC was also examined by imposing external disturbances. Finally, a multimodel operating regime was used to model Tm and N. The operating regime was divided based on the screw speed, N. Local models were developed using system identification techniques. The global model was developed by combining local models using fuzzy logic methodology.…

Subjects/Keywords: Model predictive controller; Grey box model; Twin screw extruder; Process Identification

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Iqbal, M. H. (2010). Advanced control of the twin screw extruder. (Doctoral Dissertation). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/2f75r837g

Chicago Manual of Style (16^th Edition):

Iqbal, Mohammad Hasan. “Advanced control of the twin screw extruder.” 2010. Doctoral Dissertation, University of Alberta. Accessed January 18, 2021. https://era.library.ualberta.ca/files/2f75r837g.

MLA Handbook (7^th Edition):

Iqbal, Mohammad Hasan. “Advanced control of the twin screw extruder.” 2010. Web. 18 Jan 2021.

Vancouver:

Iqbal MH. Advanced control of the twin screw extruder. [Internet] [Doctoral dissertation]. University of Alberta; 2010. [cited 2021 Jan 18]. Available from: https://era.library.ualberta.ca/files/2f75r837g.

Council of Science Editors:

Iqbal MH. Advanced control of the twin screw extruder. [Doctoral Dissertation]. University of Alberta; 2010. Available from: https://era.library.ualberta.ca/files/2f75r837g

University of Canterbury

7. Shamsudin, Syariful Syafiq. The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System.

Degree: Mechanical Engineering Department, 2013, University of Canterbury

URL: http://hdl.handle.net/10092/8803

► This thesis presents the development of self adaptive flight controller for an unmanned helicopter system under hovering manoeuvre. The neural network (NN) based model predictive… (more)

▼ This thesis presents the development of self adaptive flight controller for an unmanned helicopter system under hovering manoeuvre. The neural network (NN) based model predictive control (MPC) approach is utilised in this work. We use this controller due to its ability to handle system constraints and the time varying nature of the helicopter dynamics. The non-linear NN based MPC controller is known to produce slow solution convergence due to high computation demand in the optimisation process. To solve this problem, the automatic flight controller system is designed using the NN based approximate predictive control (NNAPC) approach that relies on extraction of linear models from the non-linear NN model at each time step. The sequence of control input is generated using the prediction from the linearised model and the optimisation routine of MPC subject to the imposed hard constraints. In this project, the optimisation of the MPC objective criterion is implemented using simple and fast computation of the Hildreth's Quadratic Programming (QP) procedure. The system identification of the helicopter dynamics is typically performed using the time regression network (NNARX) with the input variables. Their time lags are fed into a static feed-forward network such as the multi-layered perceptron (MLP) network. NN based modelling that uses the NNARX structure to represent a dynamical system usually requires a priori knowledge about the model order of the system. Low model order assumption generally leads to deterioration of model prediction accuracy. Furthermore, massive amount of weights in the standard NNARX model can result in an increased NN training time and limit the application of the NNARX model in a real-time application. In this thesis, three types of NN architectures are considered to represent the time regression network: the multi-layered perceptron (MLP), the hybrid multi-layered perceptron (HMLP) and the modified Elman network. The latter two architectures are introduced to improve the training time and the convergence rate of the NN model. The model structures for the proposed architecture are selected using the proposed Lipschitz coefficient and k-cross validation methods to determine the best network configuration that guarantees good generalisation performance for model prediction. Most NN based modelling techniques attempt to model the time varying dynamics of a helicopter system using the off-line modelling approach which are incapable of representing the entire operating points of the flight envelope very well. Past research works attempt to update the NN model during flight using the mini-batch Levenberg-Marquardt (LM) training. However, due to the limited processing power available in the real-time processor, such approaches can only be employed to relatively small networks and they are limited to model uncoupled helicopter dynamics. In order to accommodate the time-varying properties of helicopter dynamics which change frequently during flight, a recursive Gauss-Newton (rGN) algorithm is…

Subjects/Keywords: model predictive control; system identification; neural network; helicopter; adaptive flight controller

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APA (6^th Edition):

Shamsudin, S. S. (2013). The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System. (Thesis). University of Canterbury. Retrieved from http://hdl.handle.net/10092/8803

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Shamsudin, Syariful Syafiq. “The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System.” 2013. Thesis, University of Canterbury. Accessed January 18, 2021. http://hdl.handle.net/10092/8803.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Shamsudin, Syariful Syafiq. “The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System.” 2013. Web. 18 Jan 2021.

Vancouver:

Shamsudin SS. The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System. [Internet] [Thesis]. University of Canterbury; 2013. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10092/8803.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Shamsudin SS. The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System. [Thesis]. University of Canterbury; 2013. Available from: http://hdl.handle.net/10092/8803

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brunel University

8. Al-Araji, Ahmed. Design of a cognitive neural predictive controller for mobile robot.

Degree: PhD, 2012, Brunel University

URL: http://bura.brunel.ac.uk/handle/2438/7068 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.560942

► In this thesis, a cognitive neural predictive controller system has been designed to guide a nonholonomic wheeled mobile robot during continuous and non-continuous trajectory tracking… (more)

▼ In this thesis, a cognitive neural predictive controller system has been designed to guide a nonholonomic wheeled mobile robot during continuous and non-continuous trajectory tracking and to navigate through static obstacles with collision-free and minimum tracking error. The structure of the controller consists of two layers; the first layer is a neural network system that controls the mobile robot actuators in order to track a desired path. The second layer of the controller is cognitive layer that collects information from the environment and plans the optimal path. In addition to this, it detects if there is any obstacle in the path so it can be avoided by re-planning the trajectory using particle swarm optimisation (PSO) technique. Two neural networks models are used: the first model is modified Elman recurrent neural network model that describes the kinematic and dynamic model of the mobile robot and it is trained off-line and on-line stages to guarantee that the outputs of the model will accurately represent the actual outputs of the mobile robot system. The trained neural model acts as the position and orientation identifier. The second model is feedforward multi-layer perceptron neural network that describes a feedforward neural controller and it is trained off-line and its weights are adapted on-line to find the reference torques, which controls the steady-state outputs of the mobile robot system. The feedback neural controller is based on the posture neural identifier and quadratic performance index predictive optimisation algorithm for N step-ahead prediction in order to find the optimal torque action in the transient to stabilise the tracking error of the mobile robot system when the trajectory of the robot is drifted from the desired path during transient state. Three controller methodologies were developed: the first is the feedback neural controller; the second is the nonlinear PID neural feedback controller and the third is nonlinear inverse dynamic neural feedback controller, based on the back-stepping method and Lyapunov criterion. The main advantages of the presented approaches are to plan an optimal path for itself avoiding obstructions by using intelligent (PSO) technique as well as the analytically derived control law, which has significantly high computational accuracy with predictive optimisation technique to obtain the optimal torques control action and lead to minimum tracking error of the mobile robot for different types of trajectories. The proposed control algorithm has been applied to monitor a nonholonomic wheeled mobile robot, has demonstrated the capability of tracking different trajectories with continuous gradients (lemniscates and circular) or non-continuous gradients (square) with bounded external disturbances and static obstacles. Simulations results and experimental work showed the effectiveness of the proposed cognitive neural predictive control algorithm; this is demonstrated by the minimised tracking error to less than (1 cm) and obtained smoothness of the torque control…

Subjects/Keywords: 629.8932; Mobile robot; trajectory tracking; Neural networks; Predictive controller; Path planning

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Al-Araji, A. (2012). Design of a cognitive neural predictive controller for mobile robot. (Doctoral Dissertation). Brunel University. Retrieved from http://bura.brunel.ac.uk/handle/2438/7068 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.560942

Chicago Manual of Style (16^th Edition):

Al-Araji, Ahmed. “Design of a cognitive neural predictive controller for mobile robot.” 2012. Doctoral Dissertation, Brunel University. Accessed January 18, 2021. http://bura.brunel.ac.uk/handle/2438/7068 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.560942.

MLA Handbook (7^th Edition):

Al-Araji, Ahmed. “Design of a cognitive neural predictive controller for mobile robot.” 2012. Web. 18 Jan 2021.

Vancouver:

Al-Araji A. Design of a cognitive neural predictive controller for mobile robot. [Internet] [Doctoral dissertation]. Brunel University; 2012. [cited 2021 Jan 18]. Available from: http://bura.brunel.ac.uk/handle/2438/7068 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.560942.

Council of Science Editors:

Al-Araji A. Design of a cognitive neural predictive controller for mobile robot. [Doctoral Dissertation]. Brunel University; 2012. Available from: http://bura.brunel.ac.uk/handle/2438/7068 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.560942

9. Shen, Yitong. Microgrid Control Strategy Study and Controller Design Based on Model Predictive Control.

Degree: MS, Electrical Engineering, 2017, U of Denver

URL: https://digitalcommons.du.edu/etd/1241

► In the 21st century, because of the exhausting of oil, coal and other non-renewable energy, human beings enter a period of large-scale exploitation and… (more)

▼ In the 21st century, because of the exhausting of oil, coal and other non-renewable energy, human beings enter a period of large-scale exploitation and utilization of renewable energy. Renewable energy generation become an important way for new energy utilization, however, as more and more distributed generation connect to power distribution network, the traditional distribution network structure will be changed. A large number of distributed generation applications of modern power electronic technology, have also produced a lot of harmonics to impact the power quality. It will threaten the safe operation of the distribution network and obstruct the utilization of renewable energy. The concept of microgrid provides a new thinking for the application of renewable energy. Microgrid can make full use of the characteristics of the renewable energy and it is the key of the future resources and environment for human beings. We can predict that, microgrid construction will be rapidly developed in 21st century, based on the utilization of renewable energy. In order to coordinate the contradiction between power grid and distributed generation, the concept of microgrid arises at the historic moment. Microgrid has two operation modes: islanded mode and grid-connected mode. By theoretically analyzing, simulation model construction and result analyzing, the microgrid coordinated control strategies will be studied in this paper. Firstly, this paper starts from the microgrid operation control mode, respectively establishing the traditional control strategy of simulation for the isolated and connected microgrid. The isolated grid control strategies is V/f control strategy based on droop characteristic and the connected grid control strategies is P/Q control strategy. Second, the model predictive control is introduced in chapter three including its principle and application. In the case study, the traditional PI controller is compared with model predictive control controller in single distributed generation system to introduce advantages of model predictive control method. Last, the model of microgrid with multiple distributed generations is built in MATLAB/Simulink. There are three cases in this model: working model switches between grid-connected and islanded mode; increase and decrease load in islanded mode; disconnect one PV system at certain time in islanded mode. By analyzing results of three cases, the MPC controller can achieve desirable efficiency of power control. Meanwhile, the voltage and frequency are working in the required range of the system. That proves the effectiveness of MPC controller. Advisors/Committee Members: David Wenzhong Gao, Ph.D..

Subjects/Keywords: Control strategy; Microgrid; Model predictive control; PI controller; Engineering

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Shen, Y. (2017). Microgrid Control Strategy Study and Controller Design Based on Model Predictive Control. (Thesis). U of Denver. Retrieved from https://digitalcommons.du.edu/etd/1241

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Shen, Yitong. “Microgrid Control Strategy Study and Controller Design Based on Model Predictive Control.” 2017. Thesis, U of Denver. Accessed January 18, 2021. https://digitalcommons.du.edu/etd/1241.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Shen, Yitong. “Microgrid Control Strategy Study and Controller Design Based on Model Predictive Control.” 2017. Web. 18 Jan 2021.

Vancouver:

Shen Y. Microgrid Control Strategy Study and Controller Design Based on Model Predictive Control. [Internet] [Thesis]. U of Denver; 2017. [cited 2021 Jan 18]. Available from: https://digitalcommons.du.edu/etd/1241.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Shen Y. Microgrid Control Strategy Study and Controller Design Based on Model Predictive Control. [Thesis]. U of Denver; 2017. Available from: https://digitalcommons.du.edu/etd/1241

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Canterbury

10. Shamsudin, Syariful Syafiq. The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System.

Degree: PhD, Mechanical Engineering, 2013, University of Canterbury

URL: http://dx.doi.org/10.26021/1885

► This thesis presents the development of self adaptive flight controller for an unmanned helicopter system under hovering manoeuvre. The neural network (NN) based model predictive… (more)

▼ This thesis presents the development of self adaptive flight controller for an unmanned helicopter system under hovering manoeuvre. The neural network (NN) based model predictive control (MPC) approach is utilised in this work. We use this controller due to its ability to handle system constraints and the time varying nature of the helicopter dynamics. The non-linear NN based MPC controller is known to produce slow solution convergence due to high computation demand in the optimisation process. To solve this problem, the automatic flight controller system is designed using the NN based approximate predictive control (NNAPC) approach that relies on extraction of linear models from the non-linear NN model at each time step. The sequence of control input is generated using the prediction from the linearised model and the optimisation routine of MPC subject to the imposed hard constraints. In this project, the optimisation of the MPC objective criterion is implemented using simple and fast computation of the Hildreth's Quadratic Programming (QP) procedure. The system identification of the helicopter dynamics is typically performed using the time regression network (NNARX) with the input variables. Their time lags are fed into a static feed-forward network such as the multi-layered perceptron (MLP) network. NN based modelling that uses the NNARX structure to represent a dynamical system usually requires a priori knowledge about the model order of the system. Low model order assumption generally leads to deterioration of model prediction accuracy. Furthermore, massive amount of weights in the standard NNARX model can result in an increased NN training time and limit the application of the NNARX model in a real-time application. In this thesis, three types of NN architectures are considered to represent the time regression network: the multi-layered perceptron (MLP), the hybrid multi-layered perceptron (HMLP) and the modified Elman network. The latter two architectures are introduced to improve the training time and the convergence rate of the NN model. The model structures for the proposed architecture are selected using the proposed Lipschitz coefficient and k-cross validation methods to determine the best network configuration that guarantees good generalisation performance for model prediction. Most NN based modelling techniques attempt to model the time varying dynamics of a helicopter system using the off-line modelling approach which are incapable of representing the entire operating points of the flight envelope very well. Past research works attempt to update the NN model during flight using the mini-batch Levenberg-Marquardt (LM) training. However, due to the limited processing power available in the real-time processor, such approaches can only be employed to relatively small networks and they are limited to model uncoupled helicopter dynamics. In order to accommodate the time-varying properties of helicopter dynamics which change frequently during flight, a recursive Gauss-Newton (rGN) algorithm is…

Subjects/Keywords: model predictive control; system identification; neural network; helicopter; adaptive flight controller

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Shamsudin, S. S. (2013). The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System. (Doctoral Dissertation). University of Canterbury. Retrieved from http://dx.doi.org/10.26021/1885

Chicago Manual of Style (16^th Edition):

Shamsudin, Syariful Syafiq. “The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System.” 2013. Doctoral Dissertation, University of Canterbury. Accessed January 18, 2021. http://dx.doi.org/10.26021/1885.

MLA Handbook (7^th Edition):

Shamsudin, Syariful Syafiq. “The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System.” 2013. Web. 18 Jan 2021.

Vancouver:

Shamsudin SS. The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System. [Internet] [Doctoral dissertation]. University of Canterbury; 2013. [cited 2021 Jan 18]. Available from: http://dx.doi.org/10.26021/1885.

Council of Science Editors:

Shamsudin SS. The Development of Neural Network Based System Identification and Adaptive Flight Control for an AutonomousHelicopter System. [Doctoral Dissertation]. University of Canterbury; 2013. Available from: http://dx.doi.org/10.26021/1885

RMIT University

11. Chen, X. Flight controller design, automatic tuning and performance evaluation of quadrotor UAVs.

Degree: 2016, RMIT University

URL: http://researchbank.rmit.edu.au/view/rmit:162043

► For the last two decades, with the fast development of electronics, cheap and lightweight flight controllers, accelerometers, global positioning system and cameras have become readily… (more)

▼ For the last two decades, with the fast development of electronics, cheap and lightweight flight controllers, accelerometers, global positioning system and cameras have become readily available, which lead to a rapid growth of small commercial multi-rotor Unmanned Aerial Vehicles (UAV). The multi-rotor unmanned aerial vehicles are unstable systems due to their physical structures and feedback control systems underpin their operations and are paramount in the design and implementation of unmanned aerial vehicles. This thesis is dedicated to the topics of quadrotor controller design, automatic tuning and performance evaluation of their feedback control systems. Six key contributions are made in this research: (1) critical evaluation of conventional model-based quadrotor UAV controller design; (2) novel quadrotor PID control automatic tuning process with potential wide applications; (3) quadrotor control system performance assessment method via step response identification; (4) design and performance assessment of cascade and centralized quadrotor control using Model Predictive Control (MPC); (5) design and simulation of Quadrotor Discrete-Time One-step-ahead Predictive Control (DOPC) design; (6) design and implementation of two quadrotor UAV test rigs for validations of the proposed control strategies. In this thesis, a critical review of the conventional conventional modelbased quadrotor flight controller design is firstly conducted. Numerical simulations and experimental tests show the simplified integrator model and the neglected dynamics, which are commonly used in the conventional quadrotor controller design, can dramatically affect the closed-loop responses of the systems. The problems existed in the conventional modelbased PID controller design serve the motivation to develop the PID autotuner. The key idea behind the proposed auto-tuner is to fit the dominant dynamics of a physical plant into a simplified integrator plus delay model, which is then used to design the PID controller. The auto-tuner ensures a sound closed-loop control performance, without endangering the unmanned aerial vehicles and providing engineers and practitioners with reliable controller parameters. Another important issue for future quadrotor applications is how to reliably assess its closed-loop control performance and identify potential faults before flight. To address this problem, a novel approach to assess the closed-loop control performance of a quadrotor UAV is proposed in this thesis, which gives an intuitive way to more precisely evaluate the designed controllers and to obtain better controller tuning parameters. The auto-tuner and the proposed performance assessment scheme are evaluated on the self-made test rigs with final validations on flight tests. This thesis also covers the topic of quadrotor linear and nonlinear predictive control. For linear MPC, both centralized MPC and cascade MPC control architectures are designed for the quadrotor position controls. From the comparison, the advantages of cascade MPC over centralized…

Subjects/Keywords: Fields of Research; Quadrotor UAV; Model Predictive Control; PID Controller Automatic Tuning; Nonlinear Predictive Control; Step Response Identification

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Chen, X. (2016). Flight controller design, automatic tuning and performance evaluation of quadrotor UAVs. (Thesis). RMIT University. Retrieved from http://researchbank.rmit.edu.au/view/rmit:162043

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Chen, X. “Flight controller design, automatic tuning and performance evaluation of quadrotor UAVs.” 2016. Thesis, RMIT University. Accessed January 18, 2021. http://researchbank.rmit.edu.au/view/rmit:162043.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Chen, X. “Flight controller design, automatic tuning and performance evaluation of quadrotor UAVs.” 2016. Web. 18 Jan 2021.

Vancouver:

Chen X. Flight controller design, automatic tuning and performance evaluation of quadrotor UAVs. [Internet] [Thesis]. RMIT University; 2016. [cited 2021 Jan 18]. Available from: http://researchbank.rmit.edu.au/view/rmit:162043.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Chen X. Flight controller design, automatic tuning and performance evaluation of quadrotor UAVs. [Thesis]. RMIT University; 2016. Available from: http://researchbank.rmit.edu.au/view/rmit:162043

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Universidade do Rio Grande do Sul

12. Claro, Érica Rejane Pereira. Localização de canais afetando o desempenho de controladores preditivos baseados em modelos.

Degree: 2016, Universidade do Rio Grande do Sul

URL: http://hdl.handle.net/10183/149927

►

O escopo desta dissertação é o desenvolvimento de um método para detectar os modelos da matriz dinâmica que estejam degradando o desempenho de controladores preditivos… (more)

▼

O escopo desta dissertação é o desenvolvimento de um método para detectar os modelos da matriz dinâmica que estejam degradando o desempenho de controladores preditivos baseados em modelos. O método proposto se baseia na análise de correlação cruzada entre o erro nominal do controlador em malha fechada e a uma estimativa da contribuição de cada canal para o cálculo da saída, filtrada pela função de sensibilidade do controlador. Esse método pode ser empregado na auditoria de controladores com variáveis controladas em setpoints e/ou com variáveis que operem entre faixas, como é usual de se encontrar na indústria. Esta dissertação apresenta os resultados da aplicação bem sucedida do método no sistema de quatro tanques (JOHANSSON, 2000), para o qual três cenários foram avaliados. No primeiro cenário, o método localizou corretamente discrepâncias de ganho e de dinâmica de modelos de um controlador preditivo baseado em modelos (Model-based Predictive Controller, ou controlador MPC). No segundo, o método foi utilizado para avaliar a influência de uma variável externa para melhorar o desempenho de um controlador afetado por distúrbios não medidos. No terceiro cenário, o método localizou canais com modelos nulos que deveriam ser incluídos na matriz de controle de um controlador MPC de estrutura descentralizada. Os resultados deste estudo de caso foram comparados com aqueles obtidos pelo método proposto por BADWE, GUDI e PATWARDHAN (2009), constatando-se que o método proposto é mais robusto que o método usado na comparação, não demandando ajustes de parâmetros por parte do usuário para fornecer bons resultados. A dissertação inclui também um estudo de caso da aplicação industrial do método na auditoria de desempenho de um controlador preditivo linear de estrutura descentralizada, com doze variáveis controladas, oito manipuladas e quatro distúrbios não medidos, aplicado a um sistema de fracionamento de propeno e propano em uma indústria petroquímica. A auditoria permitiu reduzir o escopo de revisão do controlador a dezenove canais da matriz, sendo que quatorze destes correspondiam a canais com modelos nulos que deveriam ser incluídos na matriz. A eficácia do método foi comprovada repetindo-se a avaliação da qualidade de modelo para todas as variáveis controladas.

The scope of this dissertation is the development of a method to detect the models of the dynamic matrix that are affecting the performance of model-based predictive controllers. The proposed method is based on the cross correlation analysis between the nominal controller error and an estimate of the contribution of each channel to the controller output, filtered by the controller nominal sensitivity function. The method can be used in the performance assessment of controllers employing variables controlled at the setpoint and/or those controlled within ranges. This dissertation presents the results of the successful application of the method to the quadruple-tank process (JOHANSSON, 2000), for which three scenarios were evaluated. In the first scenario, the method…

Advisors/Committee Members: Trierweiler, Jorge Otávio, Farenzena, Marcelo.

Subjects/Keywords: Multivariable controller performance assessment; Controle preditivo; Controle de processos; Model-based predictive controllers; MPC

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Claro, �. R. P. (2016). Localização de canais afetando o desempenho de controladores preditivos baseados em modelos. (Thesis). Universidade do Rio Grande do Sul. Retrieved from http://hdl.handle.net/10183/149927

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Claro, Érica Rejane Pereira. “Localização de canais afetando o desempenho de controladores preditivos baseados em modelos.” 2016. Thesis, Universidade do Rio Grande do Sul. Accessed January 18, 2021. http://hdl.handle.net/10183/149927.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Claro, Érica Rejane Pereira. “Localização de canais afetando o desempenho de controladores preditivos baseados em modelos.” 2016. Web. 18 Jan 2021.

Vancouver:

Claro �RP. Localização de canais afetando o desempenho de controladores preditivos baseados em modelos. [Internet] [Thesis]. Universidade do Rio Grande do Sul; 2016. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10183/149927.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Claro �RP. Localização de canais afetando o desempenho de controladores preditivos baseados em modelos. [Thesis]. Universidade do Rio Grande do Sul; 2016. Available from: http://hdl.handle.net/10183/149927

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

McMaster University

13. Das, Buddhadeva. THE DESIGN OF A NOVEL LYAPUNOV-BASED OFFSET-FREE MODEL PREDICTIVE CONTROLLER.

Degree: PhD, 2015, McMaster University

URL: http://hdl.handle.net/11375/17463

►

This thesis considers the problem of control of nonlinear systems subject to limited availability of measurements and uncertainty in model parameters. To address this problem,… (more)

Subjects/Keywords: Process Control; Model Predictive Controller (MPC); Moving Horizon Estimation (MHE); Offset-free

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Das, B. (2015). THE DESIGN OF A NOVEL LYAPUNOV-BASED OFFSET-FREE MODEL PREDICTIVE CONTROLLER. (Doctoral Dissertation). McMaster University. Retrieved from http://hdl.handle.net/11375/17463

Chicago Manual of Style (16^th Edition):

Das, Buddhadeva. “THE DESIGN OF A NOVEL LYAPUNOV-BASED OFFSET-FREE MODEL PREDICTIVE CONTROLLER.” 2015. Doctoral Dissertation, McMaster University. Accessed January 18, 2021. http://hdl.handle.net/11375/17463.

MLA Handbook (7^th Edition):

Das, Buddhadeva. “THE DESIGN OF A NOVEL LYAPUNOV-BASED OFFSET-FREE MODEL PREDICTIVE CONTROLLER.” 2015. Web. 18 Jan 2021.

Vancouver:

Das B. THE DESIGN OF A NOVEL LYAPUNOV-BASED OFFSET-FREE MODEL PREDICTIVE CONTROLLER. [Internet] [Doctoral dissertation]. McMaster University; 2015. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/11375/17463.

Council of Science Editors:

Das B. THE DESIGN OF A NOVEL LYAPUNOV-BASED OFFSET-FREE MODEL PREDICTIVE CONTROLLER. [Doctoral Dissertation]. McMaster University; 2015. Available from: http://hdl.handle.net/11375/17463

Linköping University

14. Mörhed, Joakim. Automatic Parking and Path Following Control for a Heavy-Duty Vehicle.

Degree: Automatic Control, 2017, Linköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496

► The interest in autonomous vehicles has never been higher and there are several components that need to function for a vehicle to be fully… (more)

▼ The interest in autonomous vehicles has never been higher and there are several components that need to function for a vehicle to be fully autonomous; one of which is the ability to perform a parking at the end of a mission. The objective of this thesis work is to develop and implement an automatic parking system (APS) for a heavy-duty vehicle (HDV). A delimitation in this thesis work is that the parking lot has a known structure and the HDV is a truck without any trailer and access to more computational power and sensors than today's commercial trucks. An automatic system for searching the parking lot has been developed which updates an occupancy grid map (OGM) based on measurements from GPS and LIDAR sensors mounted on the truck. Based on the OGM and the known structure of the parking lot, the state of the parking spots is determined and a path can be computed between the current and desired position. Based on a kinematic model of the HDV, a gain-scheduled linear quadratic (LQ) controller with feedforward action is developed. The controller's objective is to stabilize the lateral error dynamics of the system around a precomputed path. The LQ controller explicitly takes into account that there exist an input delay in the system. Due to minor complications with the precomputed path the LQ controller causes the steering wheel turn too rapidly which makes the backup driver nervous. To limit these rapid changes of the steering wheel a controller based on model predictive control (MPC) is developed with the goal of making the steering wheel behave more human-like. A constraint for maximum allowed changes of the controller output is added to the MPC formulation as well as physical restrictions and the resulting MPC controller is smoother and more human-like, but due to computational limitations the controller turns out less effective than desired. Development and testing of the two controllers are evaluated in three different environments of varying complexity; the simplest simulation environment contains a basic vehicle model and serves as a proof of concept environment, the second simulation environment uses a more realistic vehicle model and finally the controllers are evaluated on a full-scale HDV. Finally, system tests of the APS are performed and the HDV successfully parks with the LQ controller as well as the MPC controller. The concept of a self-parking HDV has been demonstrated even though more tuning and development needs to be done before the proposed APS can be used in a commercial HDV.

Subjects/Keywords: Control theory; Automatic parking; Autonomous; Parking; Path following; Controller; Heavy-Duty vehicle; Scania; Occupancy grid map; Linear quadratic control; LQ controller; Model predictive control; MPC controller; HDV; Control Engineering; Reglerteknik

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Mörhed, J. (2017). Automatic Parking and Path Following Control for a Heavy-Duty Vehicle. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mörhed, Joakim. “Automatic Parking and Path Following Control for a Heavy-Duty Vehicle.” 2017. Thesis, Linköping University. Accessed January 18, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mörhed, Joakim. “Automatic Parking and Path Following Control for a Heavy-Duty Vehicle.” 2017. Web. 18 Jan 2021.

Vancouver:

Mörhed J. Automatic Parking and Path Following Control for a Heavy-Duty Vehicle. [Internet] [Thesis]. Linköping University; 2017. [cited 2021 Jan 18]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mörhed J. Automatic Parking and Path Following Control for a Heavy-Duty Vehicle. [Thesis]. Linköping University; 2017. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Universidade do Rio Grande do Sul

15. Paim, Anderson de Campos. Controle preditivo retroalimentado por estados estimados, aplicado a uma planta laboratorial.

Degree: 2009, Universidade do Rio Grande do Sul

URL: http://hdl.handle.net/10183/21258

►

A retroalimentação de controladores preditivos que utilizam modelos em espaço de estado pode ser realizada de duas formas: (a) correção por bias, em que as… (more)

▼

A retroalimentação de controladores preditivos que utilizam modelos em espaço de estado pode ser realizada de duas formas: (a) correção por bias, em que as saídas preditas são corrigidas adicionando-se um valor proporcional a discrepância encontrada entre o valor medido atual e sua respectiva predição e por (b) retroalimentação dos estados, onde se determinam as condições iniciais através da estimação dos estados, e a partir de uma melhor condição inicial se realizam as predições futuras usadas no cálculo das ações de controle. Nesta dissertação estas duas abordagens são comparadas utilizando a Planta Laboratorial de Seis Tanques Esféricos. As técnicas de Filtro de Kalman Estendido (EKF) e Filtro de Kalman Estendido com Restrições (CEKF) foram empregadas para estimar os estados não medidos. Inicialmente foram feitos testes off-line destes algoritmos de estimação. Para estes testes são utilizados uma série de dados da planta laboratorial do estudo de caso, na qual são estudadas as influências de diversos fatores de ajuste que determinam a qualidade final de estimação. Estes ajustes serviram de base para a aplicação destes algoritmos em tempo real, quando então, estimadores de estados estão associados ao sistema de controle do processo baseado em um algoritmo de controle preditivo. Após se ter certificado a qualidade das estimações de estado, partiu-se para sua utilização como uma alternativa de retroalimentação de controladores preditivos. Estes resultados foram comparados com os obtidos através da correção simples por bias. Os resultados experimentais apontam para uma marginal piora devido à retroalimentação por estimadores de estados frente à correção por bias, pelo menos para o caso do controlador preditivo linear utilizado na comparação. Entretanto, espera-se que resultados melhores sejam obtidos no caso de modelos preditivos não-lineares, uma vez que nestes casos o modelo é bem mais sensível à qualidade da condição inicial.

The feedback of controllers that use predictive models in state space can be accomplished in two ways: (a) bias correction, where the predicted outputs are corrected by adding a value proportional to the discrepancy found between the current measurement and its respective prediction; and by (b) state feedback, which establishes the initial conditions through the states estimation, and from a better initial condition are carried out the future predictions used in the calculation of control. In this thesis these two approaches are compared using a Laboratorial Plant of Six Spherical Tanks. The techniques of Extended Kalman Filter (EKF) and Constraint Extended Kalman Filter (CEKF) were used to estimate the unmeasured states. Initially, tests were carried out off-line for theses estimation algorithms. For such testing are used a dataset of the plant in case study, in which are studied the influences of several adjustment factors that they determine the final quality of estimation. These adjustments were used of base for the application of these algorithms in real time, when then state…

Advisors/Committee Members: Trierweiler, Jorge Otávio.

Subjects/Keywords: Controle de processos químicos; Extended kalman filter; Model predictive controller; Filtro de Kalman; Controle preditivo; State space; Multivariable process; Methodology RPN

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Paim, A. d. C. (2009). Controle preditivo retroalimentado por estados estimados, aplicado a uma planta laboratorial. (Thesis). Universidade do Rio Grande do Sul. Retrieved from http://hdl.handle.net/10183/21258

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Paim, Anderson de Campos. “Controle preditivo retroalimentado por estados estimados, aplicado a uma planta laboratorial.” 2009. Thesis, Universidade do Rio Grande do Sul. Accessed January 18, 2021. http://hdl.handle.net/10183/21258.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Paim, Anderson de Campos. “Controle preditivo retroalimentado por estados estimados, aplicado a uma planta laboratorial.” 2009. Web. 18 Jan 2021.

Vancouver:

Paim AdC. Controle preditivo retroalimentado por estados estimados, aplicado a uma planta laboratorial. [Internet] [Thesis]. Universidade do Rio Grande do Sul; 2009. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10183/21258.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Paim AdC. Controle preditivo retroalimentado por estados estimados, aplicado a uma planta laboratorial. [Thesis]. Universidade do Rio Grande do Sul; 2009. Available from: http://hdl.handle.net/10183/21258

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Universidade do Rio Grande do Sul

16. Francisco, Denilson de Oliveira. Manutenção de modelos para controladores preditivos industriais.

Degree: 2017, Universidade do Rio Grande do Sul

URL: http://hdl.handle.net/10183/171396

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O escopo desta dissertação é o desenvolvimento de uma metodologia para identificar os modelos de canais da matriz dinâmica que estejam degradando o desempenho de… (more)

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O escopo desta dissertação é o desenvolvimento de uma metodologia para identificar os modelos de canais da matriz dinâmica que estejam degradando o desempenho de controladores preditivos, ou MPC (Model Predictive Control), baseado nas técnicas de auditoria e diagnóstico deste tipo de controlador propostas por BOTELHO et al. (2015) e BOTELHO; TRIERWEILER; FARENZENA (2016) e CLARO (2016). A metodologia desenvolvida contempla dois métodos distintos. O primeiro, chamado método direto compensado, tem como base o método direto de identificação em malha fechada (LJUNG, 1987)e compensa cada saída medida do processo de modo a se reter apenas a contribuição do canal que se deseja identificar. O segundo, chamado método do erro nominal, utiliza a definição de saída nominal do processo, proposta por BOTELHO et al. (2015), como métrica para se quantificar o quão próximo o modelo está do comportamento da planta através da minimização do erro nominal. Os métodos foram aplicados ao sistema de quatro tanques cilíndricos (JOHANSSON, 2000) para dois cenários distintos, sendo o primeiro um sistema 2x2 em fase não mínima contendo um MPC trabalhando com setpoint e o segundo um sistema 4x4 em fase mínima com o MPC atuando por faixas. Para o sistema 2x2, se avaliou a influência da localização do canal discrepante (dentro ou fora da diagonal principal da matriz dinâmica de transferência) na eficácia dos métodos. Para o sistema 4x4, o estudo foi voltado para a eficácia dos métodos frentes a controladores que atuam dentro de limites para as variáveis. Os modelos identificados foram comparados pela capacidade de identificar um modelo que capturasse o zero de transmissão da planta e o RGA dinâmico, par ao sistema 2x2, e pelas respostas degrau e diagrama de Bode para o sistema 4x4. O método direto compensado resultou em baixo erro relativo no valor do zero para a discrepância na diagonal principal da matriz dinâmica e alto valor quando a discrepância se encontrava fora da diagonal principal. O método do erro nominal, por sua vez, foi capaz de identificar um modelo cujo zero de transmissão possuía baixo erro relativo frente ao zero da planta em ambos os cenários. No cenário do controlador atuando por faixas, os métodos propostos obtiveram melhores estimativas dos modelos quando comparados com o método concorrente, uma vez que apresentou alto percentual de aderência das saídas simuladas com as saídas medidas. Em todos os cenários estudados, o método do erro nominal se mostrou capaz de identificar um modelo mais robusto, pois este apresentou RGA dinâmico compatível com a planta em todo o range de frequências analisado.

The objective of this dissertation is to develop a method to identify the model for the channel of the dynamic matrix that are affecting the performance of model predictive controllers (MPC), based on the assessment and diagnosis techniques for this type of controller proposed by BOTELHO et al. (2015) e BOTELHO; TRIERWEILER; FARENZENA (2016) and CLARO (2016). The proposed methodology includes two different methods. The first,…

Advisors/Committee Members: Trierweiler, Jorge Otávio.

Subjects/Keywords: Model predictive controller; Controle preditivo; Performance assessment and diagnosis; Controle de processos; Transfer matrix channels; System identification

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Francisco, D. d. O. (2017). Manutenção de modelos para controladores preditivos industriais. (Thesis). Universidade do Rio Grande do Sul. Retrieved from http://hdl.handle.net/10183/171396

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Francisco, Denilson de Oliveira. “Manutenção de modelos para controladores preditivos industriais.” 2017. Thesis, Universidade do Rio Grande do Sul. Accessed January 18, 2021. http://hdl.handle.net/10183/171396.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Francisco, Denilson de Oliveira. “Manutenção de modelos para controladores preditivos industriais.” 2017. Web. 18 Jan 2021.

Vancouver:

Francisco DdO. Manutenção de modelos para controladores preditivos industriais. [Internet] [Thesis]. Universidade do Rio Grande do Sul; 2017. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10183/171396.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Francisco DdO. Manutenção de modelos para controladores preditivos industriais. [Thesis]. Universidade do Rio Grande do Sul; 2017. Available from: http://hdl.handle.net/10183/171396

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

17. Salque, Tristan. Méthode d'évaluation des performances annuelles d'un régulateur prédictif de PAC géothermiques sur banc d'essai semi-virtuel : A method for estimating the annual performance of a predictive controller for ground source heat pumps on a semi-virtual test bench.

Degree: Docteur es, Energétique et Procédés, 2013, Paris, ENMP

URL: http://www.theses.fr/2013ENMP0095

►

Avec le développement récent de régulateurs innovants pour le bâtiment, il devient nécessaire de mettre au point une méthode de test qui soit à la… (more)

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Avec le développement récent de régulateurs innovants pour le bâtiment, il devient nécessaire de mettre au point une méthode de test qui soit à la fois rapide, reproductible et réaliste. La méthode développée dans cette thèse permet d'obtenir des performances annuelles de régulateurs de pompes à chaleurs (PAC) géothermiques en seulement quelques jours de test. Basé sur une technique d'émulation déjà utilisée pour des tests de PAC géothermiques et de systèmes solaires combinés, le test permet d'incorporer le régulateur et la PAC réels dans un environnement de simulation calibré par des mesures in-situ. Chaque jour de test correspond à un jour type de chaque mois. Le développement de la méthode consiste à déterminer la séquence de jours types optimale permettant une bonne estimation des performances. La méthode est ensuite testée expérimentalement sur le banc semi-virtuel pour comparer un régulateur prédictif à un régulateur conventionnel sur une saison de chauffage. Pour les besoins de la méthode, un régulateur prédictif de PAC géothermiques est développé. Ce régulateur utilise des réseaux de neurones pour la prévision des données météo et de la température ambiante. Un nouveau module pour la prévision des températures dans le plancher chauffant et les sondes géothermiques est proposé. Le régulateur prédictif est testé par simulation sur une saison de chauffage pour différents climats et types de maisons individuelles. En fonction de la référence, les économies d'énergie réalisées varient entre 6% et 15%.

With the recent development of innovative controllers for the building, there is a need to develop a testing method that is fast, reproducible and realistic. The method developed in this study aims to estimate the annual performance of ground source heat pump (GSHP) controllers in only a few days of test. Based on emulation techniques already used for GSHP and solar combined systems, the test immerses the controller and a real GSHP in a simulated environement that is calibrated with in-situ data. Each day of test represents a typical day of the month. The development of the method consists in determining the optimal typical days that ensure an accurate estimation of annual performance. The method is then experimentally tested on the semi-virtual test bench for the comparison of a predictive controller and a conventionnal controller over an entire heating season.To develop the method, a predictive controller for GSHP is elaborated. The controller is based on artificial neural networks used for the prediction of weather data and indoor temperature. A new module for the prediction of floor heating and boreholes fluid temperatures is also proposed. The predictive controller is tested by simulation over a heating season for various climates and types of single family house. According to the reference case, the energy savings vary between 6% and 15%.

Advisors/Committee Members: Marchio, Dominique (thesis director).

Subjects/Keywords: Pompe à chaleur; Régulateur; Géothermie; Prédictif; Semi-Virtuel; Performances annuelles; Heat pump; Controller; Ground source; Predictive; Semi-Virtual; Annual performance; 620

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Salque, T. (2013). Méthode d'évaluation des performances annuelles d'un régulateur prédictif de PAC géothermiques sur banc d'essai semi-virtuel : A method for estimating the annual performance of a predictive controller for ground source heat pumps on a semi-virtual test bench. (Doctoral Dissertation). Paris, ENMP. Retrieved from http://www.theses.fr/2013ENMP0095

Chicago Manual of Style (16^th Edition):

Salque, Tristan. “Méthode d'évaluation des performances annuelles d'un régulateur prédictif de PAC géothermiques sur banc d'essai semi-virtuel : A method for estimating the annual performance of a predictive controller for ground source heat pumps on a semi-virtual test bench.” 2013. Doctoral Dissertation, Paris, ENMP. Accessed January 18, 2021. http://www.theses.fr/2013ENMP0095.

MLA Handbook (7^th Edition):

Salque, Tristan. “Méthode d'évaluation des performances annuelles d'un régulateur prédictif de PAC géothermiques sur banc d'essai semi-virtuel : A method for estimating the annual performance of a predictive controller for ground source heat pumps on a semi-virtual test bench.” 2013. Web. 18 Jan 2021.

Vancouver:

Salque T. Méthode d'évaluation des performances annuelles d'un régulateur prédictif de PAC géothermiques sur banc d'essai semi-virtuel : A method for estimating the annual performance of a predictive controller for ground source heat pumps on a semi-virtual test bench. [Internet] [Doctoral dissertation]. Paris, ENMP; 2013. [cited 2021 Jan 18]. Available from: http://www.theses.fr/2013ENMP0095.

Council of Science Editors:

Salque T. Méthode d'évaluation des performances annuelles d'un régulateur prédictif de PAC géothermiques sur banc d'essai semi-virtuel : A method for estimating the annual performance of a predictive controller for ground source heat pumps on a semi-virtual test bench. [Doctoral Dissertation]. Paris, ENMP; 2013. Available from: http://www.theses.fr/2013ENMP0095

McMaster University

18. McCready, Chris. Discrete Geometric and Predictive Nonlinear Control.

Degree: MEngr, 2002, McMaster University

URL: http://hdl.handle.net/11375/19239

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The topic of study within includes the development and application of nonlinear control technologies on sampled systems. Discrete control structures are introduced that expand… (more)

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The topic of study within includes the development and application of nonlinear control technologies on sampled systems. Discrete control structures are introduced that expand on existing differential geometric and predictive control methods. The differential geometric techniques are described from the error trajectory context, which are typically only derived for continuous application. The discrete error trajectory controllers introduced have one of two configurations. The first configuration requires satisfaction of the error trajectory objective at the next sampling interval through prediction of system behaviour over the controller sampling interval. This objective found limited success and it is observed that satisfaction of the error trajectory objective at discrete intervals does not generally result in the intended response. The second configuration minimizes the integrated distance from the error manifold defined by the error trajectory objective over the entire controller sampling interval. It is observed that this integrated error trajectory controller best emulates the intent of the continuous controller in the discrete domain. Techniques borrowed from predictive control are incorporated into the integrated error trajectory controller such as input move suppression and constraints to produce an optimal error trajectory controller, further improving performance. The predictive control method introduced utilizes a transformation of the input space. The differentiating property of input transformation predictive control (ITPC) from other methods is the prediction technique that is capable of estimating the future behaviour of nonlinear systems through elementary matrix operations similar to the dynamic matrix control (DMC) prediction technique. This is achieved by separation of the steady state and dynamic system properties and the introduction of an intermediate state prediction layer. This allows for the nonlinear prediction of system behaviour without the need to numerically integrate the system model. Two example systems are used to demonstrate application of the discrete error trajectory and ITPC on nonlinear controllers. Performance for these control structures is compared to technologies accepted within the control community for a broad range for characteristics including, computation efficiency, design effort and other nonlinear performance criteria, with favourable results.

Thesis

Master of Engineering (MEngr)

Advisors/Committee Members: MacGregor, J. F., Chemical Engineering.

Subjects/Keywords: discrete; geometric; nonlinear; control; predictive; matrix; trajectory; controller

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

McCready, C. (2002). Discrete Geometric and Predictive Nonlinear Control. (Masters Thesis). McMaster University. Retrieved from http://hdl.handle.net/11375/19239

Chicago Manual of Style (16^th Edition):

McCready, Chris. “Discrete Geometric and Predictive Nonlinear Control.” 2002. Masters Thesis, McMaster University. Accessed January 18, 2021. http://hdl.handle.net/11375/19239.

MLA Handbook (7^th Edition):

McCready, Chris. “Discrete Geometric and Predictive Nonlinear Control.” 2002. Web. 18 Jan 2021.

Vancouver:

McCready C. Discrete Geometric and Predictive Nonlinear Control. [Internet] [Masters thesis]. McMaster University; 2002. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/11375/19239.

Council of Science Editors:

McCready C. Discrete Geometric and Predictive Nonlinear Control. [Masters Thesis]. McMaster University; 2002. Available from: http://hdl.handle.net/11375/19239

19. Dadash, Amirhossein Hosseinzadeh. A Cyber-Physical Testbed for Wireless Networked Control Systems.

Degree: Mathematics and Science, 2020, University of Gävle

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-31621

► The cyber-physical system is the keyword of the fourth industrial revolution. The internet changed the way that humans interact with each other, and cyber-physical… (more)

Subjects/Keywords: cyber-physical; testbed; wireless networked control systems; MIMO; controller; LQ; MPC; Linear Quadratic Control; Model Predictive Control; Control Engineering; Reglerteknik

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Dadash, A. H. (2020). A Cyber-Physical Testbed for Wireless Networked Control Systems. (Thesis). University of Gävle. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-31621

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Dadash, Amirhossein Hosseinzadeh. “A Cyber-Physical Testbed for Wireless Networked Control Systems.” 2020. Thesis, University of Gävle. Accessed January 18, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-31621.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Dadash, Amirhossein Hosseinzadeh. “A Cyber-Physical Testbed for Wireless Networked Control Systems.” 2020. Web. 18 Jan 2021.

Vancouver:

Dadash AH. A Cyber-Physical Testbed for Wireless Networked Control Systems. [Internet] [Thesis]. University of Gävle; 2020. [cited 2021 Jan 18]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-31621.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Dadash AH. A Cyber-Physical Testbed for Wireless Networked Control Systems. [Thesis]. University of Gävle; 2020. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-31621

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

20. Petryna, Stephen. Model predictive control of a thermoelectric-based heat pump.

Degree: 2013, University of Ontario Institute of Technology

URL: http://hdl.handle.net/10155/397

► Government regulations and growing concerns regarding global warming has lead to an increasing number of passenger vehicles on the roads today that are not powered… (more)

▼ Government regulations and growing concerns regarding global warming has lead to an increasing number of passenger vehicles on the roads today that are not powered by the conventional internal combustion (IC) engine. Automotive manufacturers have introduced electric powertrains over the last 10 years which have introduced new challenges regarding powering accessory loads historically reliant on the mechanical energy of the IC engine. High density batteries are used to store the electrical energy required by an electric powertrain and due to their relatively narrow acceptable temperature range, require liquid cooling. The cooling system in place currently utilizes the A/C compressor for cooling and a separate electric element for heating which is energy expensive when the source of energy is electricity. The proposed solution is a thermoelectric heat pump for both heating and cooling. A model predictive controller (MPC) is designed, implemented and tested to optimize the operation of the thermoelectric heat pump. The model predictive controller is chosen due to its ability to accept multiple constrained inputs and outputs as well as optimize the system according to a cost function which may consist of any parameters the designer chooses. The system is highly non-linear and complex therefore both physical modelling and system identi cation were used to derive an accurate model of the system. A steepest descent algorithm was used for optimization of the cost function. The controller was tested in a test bench environment. The results show the thermoelectric heat pump does hold the battery at the speci ed set point however more optimization was expected from the controller. The controller fell short of expectation due to operational restriction enforced during design meant to simplify the problem. The MPC controller is capable of much better performance through adding more detail to the model, an improved optimization algorithm and allowing more flexibility in set point selection. Advisors/Committee Members: Eklund, Mikael, Rohrauer, Greg F..

Subjects/Keywords: Model predictive controller; System identification; Thermal management

…required. A model predictive controller is used to anticipate large rises in temperature due to… …the battery itself. The model predictive controller consists of two main components: the… …Work Methodology The goal of designing a model predictive controller for a thermoelectric… …level of efficiency is desired therefore a predictive controller is studied. Model predictive… …and cool when appropriate. A controller is required to apply the current through the TE…

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Petryna, S. (2013). Model predictive control of a thermoelectric-based heat pump. (Thesis). University of Ontario Institute of Technology. Retrieved from http://hdl.handle.net/10155/397

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Petryna, Stephen. “Model predictive control of a thermoelectric-based heat pump.” 2013. Thesis, University of Ontario Institute of Technology. Accessed January 18, 2021. http://hdl.handle.net/10155/397.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Petryna, Stephen. “Model predictive control of a thermoelectric-based heat pump.” 2013. Web. 18 Jan 2021.

Vancouver:

Petryna S. Model predictive control of a thermoelectric-based heat pump. [Internet] [Thesis]. University of Ontario Institute of Technology; 2013. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10155/397.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Petryna S. Model predictive control of a thermoelectric-based heat pump. [Thesis]. University of Ontario Institute of Technology; 2013. Available from: http://hdl.handle.net/10155/397

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Georgia Tech

21. Sriram, Sriganesh. Predictive energy managament strategy for a parallel hybrid electric vehicle.

Degree: MS, Electrical and Computer Engineering, 2016, Georgia Tech

URL: http://hdl.handle.net/1853/56256

► A novel model-based and predictive energy supervisory controller for hybrid electric vehicles (HEVs) is presented. Its objective is to minimize the fuel consumption (FC) of… (more)

Subjects/Keywords: Parallel hybrid; Supervisory controller; Ecms; Prsg; Equivalent consumption minimization strategy; Predictive reference signal generator; Hybrid electric vehicle

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Sriram, S. (2016). Predictive energy managament strategy for a parallel hybrid electric vehicle. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/56256

Chicago Manual of Style (16^th Edition):

Sriram, Sriganesh. “Predictive energy managament strategy for a parallel hybrid electric vehicle.” 2016. Masters Thesis, Georgia Tech. Accessed January 18, 2021. http://hdl.handle.net/1853/56256.

MLA Handbook (7^th Edition):

Sriram, Sriganesh. “Predictive energy managament strategy for a parallel hybrid electric vehicle.” 2016. Web. 18 Jan 2021.

Vancouver:

Sriram S. Predictive energy managament strategy for a parallel hybrid electric vehicle. [Internet] [Masters thesis]. Georgia Tech; 2016. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/1853/56256.

Council of Science Editors:

Sriram S. Predictive energy managament strategy for a parallel hybrid electric vehicle. [Masters Thesis]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/56256

22. Rasekhipour, Yadollah. Prioritized Obstacle Avoidance in Motion Planning of Autonomous Vehicles.

Degree: 2017, University of Waterloo

URL: http://hdl.handle.net/10012/12417

► Driver errors are a critical factor of the majority of car crashes. Autonomous vehicles take drivers and driver errors out of the equation, so they… (more)

▼ Driver errors are a critical factor of the majority of car crashes. Autonomous vehicles take drivers and driver errors out of the equation, so they are being developed to reduce car crashes. However, in some situations, a crash is unavoidable even for an autonomous vehicle. An autonomous vehicle is expected to behave properly in such a situation. Crashing into different obstacles have different costs based on the injury or damage the crash might cause. In an imminent crash situation, an autonomous vehicle is expected to consider these costs and plan a trajectory that avoids the obstacles with the highest priorities. In this thesis, a motion planning Model Predictive Controller (MPC) has been developed that plans the vehicle’s trajectories based on the obstacle’s priorities. Motion planning MPCs usually use potential fields or obstacle constraints for obstacle avoidance. However, they treat all the obstacles in the same way. Two methods have been developed in this thesis to prioritize obstacles in motion planning. The first method prioritizes obstacles based on their avoidance necessities. It categorizes obstacles as crossable and non-crossable, and assigns a potential function to each category corresponding to its avoidance necessity. The second method prioritizes obstacles based on their corresponding crash costs. It applies lexicographic optimization on the MPC to prioritize the non-crossable obstacles according to their crash costs by prioritizing their corresponding constraints. A motion planning MPC problem is generally a nonlinear MPC problem. It is usually approximated by a quadratic MPC problem to become implementable in real time. In this thesis, a quadratic motion planning MPC has been developed. This MPC has a linear vehicle model and linear vehicle and obstacle constraints. The linear vehicle model along with the linear vehicle constraints should be able to model the nonlinear vehicle behavior. A linear bicycle model has been utilized, and linear tire constraints have been developed such that they can model the nonlinear vehicle behavior at the tire force limits. Moreover, a linear obstacle constraint set misses some of the feasible trajectories in the process of convexifying the obstacle-free area. An iterative obstacle avoidance method has been developed in this thesis to reduce the number of feasible trajectories missed due to the convexification. The performance of the developed motion planning MPC has been evaluated in a computer simulation with a high fidelity vehicle model. The MPC has been simulated for test scenarios to evaluate its performance in autonomous driving and prioritizing obstacles. The capabilities of the developed tire constraints and the iterative obstacle avoidance method have also been observed. The motion planning MPC has also been implemented on an autonomous test vehicle platform to show that it is implementable in real time and to validate the simulation results.

Subjects/Keywords: Autonomous Vehicles; Motion Planning; Model Predictive Controller; Potential Field; Obstacle Avoidance; Vehicle Dynamics and Control; Lexicographic Optimization; Obstacle Priority

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Rasekhipour, Y. (2017). Prioritized Obstacle Avoidance in Motion Planning of Autonomous Vehicles. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/12417

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Rasekhipour, Yadollah. “Prioritized Obstacle Avoidance in Motion Planning of Autonomous Vehicles.” 2017. Thesis, University of Waterloo. Accessed January 18, 2021. http://hdl.handle.net/10012/12417.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Rasekhipour, Yadollah. “Prioritized Obstacle Avoidance in Motion Planning of Autonomous Vehicles.” 2017. Web. 18 Jan 2021.

Vancouver:

Rasekhipour Y. Prioritized Obstacle Avoidance in Motion Planning of Autonomous Vehicles. [Internet] [Thesis]. University of Waterloo; 2017. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10012/12417.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Rasekhipour Y. Prioritized Obstacle Avoidance in Motion Planning of Autonomous Vehicles. [Thesis]. University of Waterloo; 2017. Available from: http://hdl.handle.net/10012/12417

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

23. Alberto Alexandre Moura de Albuquerque. Sistema de Controle de uma Incubadora Neonatal Segundo a Norma NBR IEC 60601219 Aspectos de AvaliaÃÃo, IdentificaÃÃo DinÃmica e Novas Propostas.

Degree: Master, 2012, Universidade Federal do Ceará

URL: http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=8839 ;

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Neste trabalho foi construido um sistema de hardware e software acoplado em uma incubadora comercial transformando-a em uma plataforma de estudo sobre o processo de… (more)

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Neste trabalho foi construido um sistema de hardware e software acoplado em uma incubadora comercial transformando-a em uma plataforma de estudo sobre o processo de umidade e temperatura caracteristico deste sistema. Atraves do software em um computador e possivel fazer medicoes das variaveis controladas e modificar os valores das variÃveis manipuladas, neste caso, o resistor de aquecimento do ar, no sistema de temperatura, e o resistor de aquecimento da agua no sistema de umidade. Foram identificados modelos do processo e um controlador preditivo do tipo GPC foi projetado para atender os criterios definidos na norma NBR IEC 60601-2/19. Para verificar o cumprimento destes critÃrios pelo controlador foi construido um sistema de hardware e software para realizar alguns dos ensaios previstos pela norma, criando um sistema de avaliacao de desempenho do comportamento das grandezas de temperatura e umidade relativa do ar no interior de incubadoras neonatais conforme a norma. O desempenho do controlador projetado foi comparado com o controlador pre existente da incubadora comercial. Foi verificado que o controlador projetado conseguiu atender os critÃrios da norma com sobre-sinal e erro de regime menores que os obtidos pelo controlador ja pre-existente na incubadora comercial.

In this work was built a system of hardware and software engaged in a commercial incubator turning it into a platform to study the process of humidity and temperature characteristic of this system. Using the software on a computer can make measurements of controlled variables and modify the values of the manipulated variables, in this case the resistor heating the air in the temperatureâs system and the heating resistor of the water in the humidityâs system. Process models were identified and a predictive controller type GPC is designed to meet the criteria defined in the standard NBR IEC 60601-2/19. To verify compliance with the criteria by the controller was built a system of hardware and software to perform some of the tests required by the standard. The performance of the controller was designed compared to the controller pre-existing commercial incubator. It was verified that the controller designed could meet the criteria of the standard more efficiently than the already pre existing business in the incubator.

Advisors/Committee Members: OtacÃlio da Mota Almeida, Arthur PlÃnio de Souza Braga.

Subjects/Keywords: CONTROLE DE PROCESSOS ELETRONICOS, RETROALIMENTACAO; Engenharia elÃtrica; Controle preditivo; Predictive Controller; Neonatal Incubator; Temperature and Humidity Estimation; NBR IEC 60601-2/19

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Albuquerque, A. A. M. d. (2012). Sistema de Controle de uma Incubadora Neonatal Segundo a Norma NBR IEC 60601219 Aspectos de AvaliaÃÃo, IdentificaÃÃo DinÃmica e Novas Propostas. (Masters Thesis). Universidade Federal do Ceará. Retrieved from http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=8839 ;

Chicago Manual of Style (16^th Edition):

Albuquerque, Alberto Alexandre Moura de. “Sistema de Controle de uma Incubadora Neonatal Segundo a Norma NBR IEC 60601219 Aspectos de AvaliaÃÃo, IdentificaÃÃo DinÃmica e Novas Propostas.” 2012. Masters Thesis, Universidade Federal do Ceará. Accessed January 18, 2021. http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=8839 ;.

MLA Handbook (7^th Edition):

Albuquerque, Alberto Alexandre Moura de. “Sistema de Controle de uma Incubadora Neonatal Segundo a Norma NBR IEC 60601219 Aspectos de AvaliaÃÃo, IdentificaÃÃo DinÃmica e Novas Propostas.” 2012. Web. 18 Jan 2021.

Vancouver:

Albuquerque AAMd. Sistema de Controle de uma Incubadora Neonatal Segundo a Norma NBR IEC 60601219 Aspectos de AvaliaÃÃo, IdentificaÃÃo DinÃmica e Novas Propostas. [Internet] [Masters thesis]. Universidade Federal do Ceará 2012. [cited 2021 Jan 18]. Available from: http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=8839 ;.

Council of Science Editors:

Albuquerque AAMd. Sistema de Controle de uma Incubadora Neonatal Segundo a Norma NBR IEC 60601219 Aspectos de AvaliaÃÃo, IdentificaÃÃo DinÃmica e Novas Propostas. [Masters Thesis]. Universidade Federal do Ceará 2012. Available from: http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=8839 ;

24. Danielle Simone da Silva Casillo. Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade.

Degree: 2009, Universidade Federal do Rio Grande do Norte

URL: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=2673

►

O Controle Preditivo tem recebido muita atenção nas últimas décadas, visto que a necessidade de compreender, analisar, predizer e controlar sistemas reais tem crescido rapidamente… (more)

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O Controle Preditivo tem recebido muita atenção nas últimas décadas, visto que a necessidade de compreender, analisar, predizer e controlar sistemas reais tem crescido rapidamente com o avanço tecnológico e industrial. O objetivo desta tese é apresentar uma contribuição para o desenvolvimento e implementação de Controladores Preditivos Não lineares baseado no modelo de Hammerstein, bem como fazer uma avaliação de suas propriedades. Neste caso, no desenvolvimento do Controlador Preditivo Não Linear utiliza-se o método de linearização por degrau de tempo e é introduzido um termo de compensação a fim de melhorar o desempenho do mesmo. A principal motivação desta tese é o estudo e a prova da estabilidade para o Controlador Preditivo Não Linear baseado no modelo de Hammerstein. Para isso utilizou-se os conceitos de setores e Critério de Popov. Testes de simulação com modelos da literatura mostram que as abordagens propostas são capazes de controlar com um bom desempenho e garantir a estabilidade dos sistemas

The Predictive Controller has been receiving plenty attention in the last decades, because the need to understand, to analyze, to predict and to control real systems has been quickly growing with the technological and industrial progress. The objective of this thesis is to present a contribution for the development and implementation of Nonlinear Predictive Controllers based on Hammerstein model, as well as to its make properties evaluation. In this case, in the Nonlinear Predictive Controller development the time-step linearization method is used and a compensation term is introduced in order to improve the controller performance. The main motivation of this thesis is the study and stability guarantee for the Nonlinear Predictive Controller based on Hammerstein model. In this case, was used the concepts of sections and Popov Theorem. Simulation results with literature models shows that the proposed approaches are able to control with good performance and to guarantee the systems stability

Advisors/Committee Members: André Laurindo Maitelli, Fábio Meneghetti Ugulino de Araújo, Oscar Gabriel Filho, Adhemar de Barros Fontes, Otacílio da Mota Almeida.

Subjects/Keywords: Controle preditivo generalizado não linear; modelo de Hammerstein; critério de Popov; prova de estabilidade; ENGENHARIA ELETRICA; Nonlinear generalized predictive controller; Hammerstein model; Popov criteria; stability guarantee

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Casillo, D. S. d. S. (2009). Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade. (Thesis). Universidade Federal do Rio Grande do Norte. Retrieved from http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=2673

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Casillo, Danielle Simone da Silva. “Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade.” 2009. Thesis, Universidade Federal do Rio Grande do Norte. Accessed January 18, 2021. http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=2673.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Casillo, Danielle Simone da Silva. “Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade.” 2009. Web. 18 Jan 2021.

Vancouver:

Casillo DSdS. Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade. [Internet] [Thesis]. Universidade Federal do Rio Grande do Norte; 2009. [cited 2021 Jan 18]. Available from: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=2673.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Casillo DSdS. Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade. [Thesis]. Universidade Federal do Rio Grande do Norte; 2009. Available from: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=2673

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Universidade do Rio Grande do Norte

25. Casillo, Danielle Simone da Silva. Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade .

Degree: 2009, Universidade do Rio Grande do Norte

URL: http://repositorio.ufrn.br/handle/123456789/15130

► The Predictive Controller has been receiving plenty attention in the last decades, because the need to understand, to analyze, to predict and to control real… (more)

Subjects/Keywords: Controle preditivo generalizado não linear; modelo de Hammerstein; critério de Popov; prova de estabilidade; Nonlinear generalized predictive controller; Hammerstein model; Popov criteria; stability guarantee

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Casillo, D. S. d. S. (2009). Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade . (Doctoral Dissertation). Universidade do Rio Grande do Norte. Retrieved from http://repositorio.ufrn.br/handle/123456789/15130

Chicago Manual of Style (16^th Edition):

Casillo, Danielle Simone da Silva. “Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade .” 2009. Doctoral Dissertation, Universidade do Rio Grande do Norte. Accessed January 18, 2021. http://repositorio.ufrn.br/handle/123456789/15130.

MLA Handbook (7^th Edition):

Casillo, Danielle Simone da Silva. “Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade .” 2009. Web. 18 Jan 2021.

Vancouver:

Casillo DSdS. Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade . [Internet] [Doctoral dissertation]. Universidade do Rio Grande do Norte; 2009. [cited 2021 Jan 18]. Available from: http://repositorio.ufrn.br/handle/123456789/15130.

Council of Science Editors:

Casillo DSdS. Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade . [Doctoral Dissertation]. Universidade do Rio Grande do Norte; 2009. Available from: http://repositorio.ufrn.br/handle/123456789/15130

Universidade do Rio Grande do Norte

26. Lopes, José Soares Batista. Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados .

Degree: 2011, Universidade do Rio Grande do Norte

URL: http://repositorio.ufrn.br/handle/123456789/15339

► This work deals with an on-line control strategy based on Robust Model Predictive Control (RMPC) technique applied in a real coupled tanks system. This process… (more)

Subjects/Keywords: Controlador preditivo robusto; Desigualdades matriciais lineares; Incerteza politópica; Sistema de tanques acoplados; Controlador lógico programável; Robust model predictive control; Linear matrix inequalities; Polytopic uncertainty; Coupled tanks system; Programmable logic controller

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Lopes, J. S. B. (2011). Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados . (Masters Thesis). Universidade do Rio Grande do Norte. Retrieved from http://repositorio.ufrn.br/handle/123456789/15339

Chicago Manual of Style (16^th Edition):

Lopes, José Soares Batista. “Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados .” 2011. Masters Thesis, Universidade do Rio Grande do Norte. Accessed January 18, 2021. http://repositorio.ufrn.br/handle/123456789/15339.

MLA Handbook (7^th Edition):

Lopes, José Soares Batista. “Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados .” 2011. Web. 18 Jan 2021.

Vancouver:

Lopes JSB. Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados . [Internet] [Masters thesis]. Universidade do Rio Grande do Norte; 2011. [cited 2021 Jan 18]. Available from: http://repositorio.ufrn.br/handle/123456789/15339.

Council of Science Editors:

Lopes JSB. Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados . [Masters Thesis]. Universidade do Rio Grande do Norte; 2011. Available from: http://repositorio.ufrn.br/handle/123456789/15339

Universidade do Rio Grande do Norte

27. Casillo, Danielle Simone da Silva. Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade .

Degree: 2009, Universidade do Rio Grande do Norte

URL: http://repositorio.ufrn.br/handle/123456789/15130

► The Predictive Controller has been receiving plenty attention in the last decades, because the need to understand, to analyze, to predict and to control real… (more)

Subjects/Keywords: Controle preditivo generalizado não linear; modelo de Hammerstein; critério de Popov; prova de estabilidade; Nonlinear generalized predictive controller; Hammerstein model; Popov criteria; stability guarantee

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Casillo, D. S. d. S. (2009). Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade . (Thesis). Universidade do Rio Grande do Norte. Retrieved from http://repositorio.ufrn.br/handle/123456789/15130

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Casillo, Danielle Simone da Silva. “Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade .” 2009. Thesis, Universidade do Rio Grande do Norte. Accessed January 18, 2021. http://repositorio.ufrn.br/handle/123456789/15130.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Casillo, Danielle Simone da Silva. “Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade .” 2009. Web. 18 Jan 2021.

Vancouver:

Casillo DSdS. Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade . [Internet] [Thesis]. Universidade do Rio Grande do Norte; 2009. [cited 2021 Jan 18]. Available from: http://repositorio.ufrn.br/handle/123456789/15130.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Casillo DSdS. Controle preditivo não linear baseado no modelo de Hammerstein com prova de estabilidade . [Thesis]. Universidade do Rio Grande do Norte; 2009. Available from: http://repositorio.ufrn.br/handle/123456789/15130

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Universidade do Rio Grande do Norte

28. Lopes, José Soares Batista. Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados .

Degree: 2011, Universidade do Rio Grande do Norte

URL: http://repositorio.ufrn.br/handle/123456789/15339

► This work deals with an on-line control strategy based on Robust Model Predictive Control (RMPC) technique applied in a real coupled tanks system. This process… (more)

Subjects/Keywords: Controlador preditivo robusto; Desigualdades matriciais lineares; Incerteza politópica; Sistema de tanques acoplados; Controlador lógico programável; Robust model predictive control; Linear matrix inequalities; Polytopic uncertainty; Coupled tanks system; Programmable logic controller

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Lopes, J. S. B. (2011). Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados . (Thesis). Universidade do Rio Grande do Norte. Retrieved from http://repositorio.ufrn.br/handle/123456789/15339

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Lopes, José Soares Batista. “Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados .” 2011. Thesis, Universidade do Rio Grande do Norte. Accessed January 18, 2021. http://repositorio.ufrn.br/handle/123456789/15339.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Lopes, José Soares Batista. “Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados .” 2011. Web. 18 Jan 2021.

Vancouver:

Lopes JSB. Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados . [Internet] [Thesis]. Universidade do Rio Grande do Norte; 2011. [cited 2021 Jan 18]. Available from: http://repositorio.ufrn.br/handle/123456789/15339.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Lopes JSB. Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados . [Thesis]. Universidade do Rio Grande do Norte; 2011. Available from: http://repositorio.ufrn.br/handle/123456789/15339

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

29. Fakir, Felipe [UNESP]. Controle preditivo multi-rate para eficiência energética em sistema de controle via rede sem fio.

Degree: 2017, Universidade Estadual Paulista

URL: http://hdl.handle.net/11449/150992

►

A tecnologia de comunicação wireless vem se tornando parte fundamental do cotidiano das indústrias de processos, onde o uso de transmissores wireless aplicados à monitoração… (more)

▼

A tecnologia de comunicação wireless vem se tornando parte fundamental do cotidiano das indústrias de processos, onde o uso de transmissores wireless aplicados à monitoração e controle já é uma realidade. A arquitetura de Sistema de Controle via Rede Sem Fio (WNCS) possui vantagens em relação às arquiteturas tradicionais ponto-a-ponto e às arquiteturas de redes cabeadas devido à facilidade de instalação, configuração e manutenção. No entanto, a evolução desta tecnologia introduziu novos desafios para a implementação da malha de controle fechada por um instrumento wireless como as não linearidades, perda de pacote de dados e restrições da comunicação de dados nas redes sem fio. Outro fator crítico relacionado à implementação de WNCSs é a fonte de energia limitada destes transmissores, que possuem vida útil dependente da quantidade de acessos e dados transmitidos. Este trabalho apresenta o estudo e o desenvolvimento de um controlador preditivo multi-rate como alternativa para melhorar a eficiência energética em aplicações industriais de WNCSs. A estratégia proposta não necessita receber constantemente os valores reais das variáveis do processo transmitidos pelos transmissores wireless, pois o controlador preditivo baseado em modelo (MPC) se utiliza do submodelo interno das variáveis de processo para estimar os valores das variáveis quando estas não são transmitidas. Dessa forma, uma diminuição da frequência de transmissão de dados na rede sem fio pode ser obtida e, consequentemente uma redução do consumo energético dos dispositivos sem fio. Resultados de simulações em diferentes condições de operação de um WNCS multivariável de controle de tanques acoplados demonstram que o MPC multi-rate possui características de robustez e é efetivo para aplicações de WNCS, garantindo requisitos de controle e estabilidade mesmo com a diminuição da frequência de transmissão de dados de realimentação na rede sem fio. Adicionalmente, resultados do consumo energético dos dispositivos do WNCS mostraram que o MPC multi-rate proporciona uma economia de energia de até 20% das baterias dos transmissores wireless. Uma análise da eficiência energética do WNCS é apresentada através do estudo dos limites operacionais do controlador MPC multi-rate considerando a relação de compromisso entre o período de amostragem dos dispositivos sem fio e o desempenho de controle do WNCS.

Wireless communication technology has become a fundamental part of the everyday life of process industries, where the use of wireless transmitters for monitoring and control is already a reality. The architecture of Wireless Networked Control Systems (WNCSs) has advantages over point-to-point and wired networks architectures due to the ease of installation, configuration and maintenance. However, the evolution of this technology has introduced new challenges to the implementation of the closed loop control with a wireless instrument as nonlinearities, packet losses and data communication constraints in the wireless networks. Another critical factor related to implementation…

Advisors/Committee Members: Godoy, Eduardo Paciência [UNESP], Universidade Estadual Paulista (UNESP).

Subjects/Keywords: Sistemas de controle via redes sem fio; Otimização energética; Model predictive controller; Controle multi-rate; Wireless networked control systems; Power optimization; Multi-rate control

Record Details Similar Records Cite « Share

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Fakir, F. [. (2017). Controle preditivo multi-rate para eficiência energética em sistema de controle via rede sem fio. (Thesis). Universidade Estadual Paulista. Retrieved from http://hdl.handle.net/11449/150992

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Fakir, Felipe [UNESP]. “Controle preditivo multi-rate para eficiência energética em sistema de controle via rede sem fio.” 2017. Thesis, Universidade Estadual Paulista. Accessed January 18, 2021. http://hdl.handle.net/11449/150992.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Fakir, Felipe [UNESP]. “Controle preditivo multi-rate para eficiência energética em sistema de controle via rede sem fio.” 2017. Web. 18 Jan 2021.

Vancouver:

Fakir F[. Controle preditivo multi-rate para eficiência energética em sistema de controle via rede sem fio. [Internet] [Thesis]. Universidade Estadual Paulista; 2017. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/11449/150992.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Fakir F[. Controle preditivo multi-rate para eficiência energética em sistema de controle via rede sem fio. [Thesis]. Universidade Estadual Paulista; 2017. Available from: http://hdl.handle.net/11449/150992

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Luleå University of Technology

30. Johansson, Anna. Functional enhancements of multivariable predictive controller.

Degree: 2002, Luleå University of Technology

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-57645

►

The purpose of this Master Thesis concerns further development of ABB´s multivariable prediction controller 3dMPC.The product 3dMPC consists of both on-line and off-line components… (more)

Subjects/Keywords: Technology; automatic control; multivariable; predictive controller; modellbased; caskade; reglerteknik; prediktiv; signalval; kaskad; Teknik

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Johansson, A. (2002). Functional enhancements of multivariable predictive controller. (Thesis). Luleå University of Technology. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-57645

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Johansson, Anna. “Functional enhancements of multivariable predictive controller.” 2002. Thesis, Luleå University of Technology. Accessed January 18, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-57645.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Johansson, Anna. “Functional enhancements of multivariable predictive controller.” 2002. Web. 18 Jan 2021.

Vancouver:

Johansson A. Functional enhancements of multivariable predictive controller. [Internet] [Thesis]. Luleå University of Technology; 2002. [cited 2021 Jan 18]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-57645.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Johansson A. Functional enhancements of multivariable predictive controller. [Thesis]. Luleå University of Technology; 2002. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-57645

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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Open Access Theses and Dissertations