subject:(nonlinear MPC)

Delft University of Technology

1. van der Slot, Kuno (author). Comfort oriented nonlinear model predictive control: For autonomous vehicles.

Degree: 2020, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:5ee64e76-bd1c-479f-bc69-90b9a944db51

► To promote automation in vehicles, autonomous driving should feel comfortable. To achieve low discomfort, a comfort oriented nonlinear model predictive controller is created. We know… (more)

Subjects/Keywords: Autonomous vehicles; nonlinear MPC control; Comfort; Motion Sickness

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APA (6^th Edition):

van der Slot, K. (. (2020). Comfort oriented nonlinear model predictive control: For autonomous vehicles. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:5ee64e76-bd1c-479f-bc69-90b9a944db51

Chicago Manual of Style (16^th Edition):

van der Slot, Kuno (author). “Comfort oriented nonlinear model predictive control: For autonomous vehicles.” 2020. Masters Thesis, Delft University of Technology. Accessed March 04, 2021. http://resolver.tudelft.nl/uuid:5ee64e76-bd1c-479f-bc69-90b9a944db51.

MLA Handbook (7^th Edition):

van der Slot, Kuno (author). “Comfort oriented nonlinear model predictive control: For autonomous vehicles.” 2020. Web. 04 Mar 2021.

Vancouver:

van der Slot K(. Comfort oriented nonlinear model predictive control: For autonomous vehicles. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Mar 04]. Available from: http://resolver.tudelft.nl/uuid:5ee64e76-bd1c-479f-bc69-90b9a944db51.

Council of Science Editors:

van der Slot K(. Comfort oriented nonlinear model predictive control: For autonomous vehicles. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:5ee64e76-bd1c-479f-bc69-90b9a944db51

Delft University of Technology

2. Diaz Guasgua, Andrea (author). Predictive Temperature and Humidity Control in Integrated Building Energy Management Systems.

Degree: 2019, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:36767636-7ed6-4b8d-96f1-88ceead9a23b

► Worldwide roughly 80% of heating and cooling systems in the building sector are currently dominated by fossil-fuel technologies. These systems, known as Heating, Ventilation and… (more)

▼ Worldwide roughly 80% of heating and cooling systems in the building sector are currently dominated by fossil-fuel technologies. These systems, known as Heating, Ventilation and Air Conditioning (HVAC) systems have contributed to global climate change and global warming. These effects are the consequence of the increasing demand of HVAC systems over the last decades mainly due to population growth and improved building climate comfort. This has motivated the improvement of heating and cooling systems of buildings, for instance by implementing better control strategies. The control of HVAC systems aims to provide thermal comfort and acceptable indoor air quality. These factors are influenced by temperature and humidity. Thermal comfort and indoor air quality together with the reduction in energy consumption is the core of this work, we propose a nonlinear Model Predictive Control (MPC) as an approach to solve the temperature and humidity control while aiming to realize energy consumption reduction in buildings. MPC expresses the problem as an optimization program with constraints over a prediction horizon. The major advantage of using MPC in comparison to classic controllers for building climate comfort is the straightforward relation between temperature and humidity to energy consumption, which is quantified in the objective function definition. In this project, we represent the model of the building as a single zone space and we consider a cooling and heating coil to dehumidify and re-heat the air, respectively. These processes across the coils are graphically represented in the psychrometric chart, which allows us to define the overall system’s enthalpy as the difference between the mixed air and supply air conditions. This vector is integrated into the objective function in the MPC formulation. The MPC problem formulation is defined by the reference tracking of the temperature and humidity ratio in the zone and the energy minimization problem, which corresponds to a nonlinear constrained optimization problem. The constraints are described by the system dynamics of the zone, states constraints, and input constraints. The inputs correspond to the temperature and humidity ratio of the supply air. In this formulation, the state constraints and the reference tracking allow to indirectly limit the evolution of the relative humidity in the zone. The energy minimization problem corresponds to one of the following cases, the optimization with respect to the (i) air mass flow rate, (ii) the air mass flow rate and the sensible heat from ventilation and (iii) the air mass flow rate and the enthalpy vector. We investigate the opportunity to improve the energy efficiency by providing an analysis of the aforementioned scenarios. From which case (i) was taken as the reference controller. To solve the nonlinear program, we use the toolbox Yalmip and the Sequential Quadratic Programming (SQP) solver. The toolbox supplies the warm-starting for the optimization problem inside the bounds defined, and then it computes the solution. The… Advisors/Committee Members: Keviczky, Tamas (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: HVAC systems in buildings; Temperature and Humidity; Psychrometrics; nonlinear MPC control

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APA (6^th Edition):

Diaz Guasgua, A. (. (2019). Predictive Temperature and Humidity Control in Integrated Building Energy Management Systems. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:36767636-7ed6-4b8d-96f1-88ceead9a23b

Chicago Manual of Style (16^th Edition):

Diaz Guasgua, Andrea (author). “Predictive Temperature and Humidity Control in Integrated Building Energy Management Systems.” 2019. Masters Thesis, Delft University of Technology. Accessed March 04, 2021. http://resolver.tudelft.nl/uuid:36767636-7ed6-4b8d-96f1-88ceead9a23b.

MLA Handbook (7^th Edition):

Diaz Guasgua, Andrea (author). “Predictive Temperature and Humidity Control in Integrated Building Energy Management Systems.” 2019. Web. 04 Mar 2021.

Vancouver:

Diaz Guasgua A(. Predictive Temperature and Humidity Control in Integrated Building Energy Management Systems. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 04]. Available from: http://resolver.tudelft.nl/uuid:36767636-7ed6-4b8d-96f1-88ceead9a23b.

Council of Science Editors:

Diaz Guasgua A(. Predictive Temperature and Humidity Control in Integrated Building Energy Management Systems. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:36767636-7ed6-4b8d-96f1-88ceead9a23b

University of Newcastle

3. Cea Garrido, Mauricio Esteban. Sampling and quantization in nonlinear filtering and control.

Degree: 2012, University of Newcastle

URL: http://hdl.handle.net/1959.13/935346

►

Research Doctorate - Doctor of Philosophy

The thesis describes contributions made in two areas, namely, aspects of nonlinear filtering and control over communication channels. Specifically,… (more)

▼

Research Doctorate - Doctor of Philosophy

The thesis describes contributions made in two areas, namely, aspects of nonlinear filtering and control over communication channels. Specifically, the thesis is concerned with addressing the impact of temporal and spatial quantization on the performance of estimation and control algorithms. Regarding nonlinear filtering, emphasis is placed on technical and theoretical issues regarding the impact of sampling and spatial quantization. New techniques of upsampling and downsampling are developed to address specific computational issues. Also, extensions to Lebesgue sampling are explored. In addition, a new class of nonlinear filtering algorithms, called Minimum Distortion Filters, is developed based on the use of Vector Quantization. The effectiveness of the new filtering algorithms are illustrated, by using it on a wide variety of problems including system identification, state estimation for chemical processes and radar tracking. Regarding control over communication channels, the focus is primarily on the practical problem of inner loop power control in broadband WCDMA. This control loop is characterized by the use of a one-bit-per-sample control law. This restriction severely limits the achievable performance. To address the problem, a novel adaptive quantizer is developed in the thesis. The scheme is shown to lead to significant performance improvements. The scheme has also been extended and applied to the problem of stabilizing an open loop unstable system over a bit rate constrained channel. Other control problems in WCDMA are also explored including the use of the "Happy Bit" to signal buffer sizes for the purposes of scheduling. This control loop is also subject to a one-bit-per-sample constraint. Typically, the one bit is used for a different purpose in current implementations. Here we develop an adaptive scheme based on the Happy Bit for communicating the buffer size.

Advisors/Committee Members: University of Newcastle. Faculty of Engineering & Built Environment, School of Electrical Engineering and Computer Science.

Subjects/Keywords: nonlinear filtering; quantization; sampled data; nonlinear MPC; WCDMA; networked control; constrained bit rate

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APA (6^th Edition):

Cea Garrido, M. E. (2012). Sampling and quantization in nonlinear filtering and control. (Thesis). University of Newcastle. Retrieved from http://hdl.handle.net/1959.13/935346

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):

Cea Garrido, Mauricio Esteban. “Sampling and quantization in nonlinear filtering and control.” 2012. Thesis, University of Newcastle. Accessed March 04, 2021. http://hdl.handle.net/1959.13/935346.

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

MLA Handbook (7^th Edition):

Cea Garrido, Mauricio Esteban. “Sampling and quantization in nonlinear filtering and control.” 2012. Web. 04 Mar 2021.

Vancouver:

Cea Garrido ME. Sampling and quantization in nonlinear filtering and control. [Internet] [Thesis]. University of Newcastle; 2012. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/1959.13/935346.

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

Council of Science Editors:

Cea Garrido ME. Sampling and quantization in nonlinear filtering and control. [Thesis]. University of Newcastle; 2012. Available from: http://hdl.handle.net/1959.13/935346

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

Linköping University

4. Sandmark, David. Navigation Strategies for Improved Positioning of Autonomous Vehicles.

Degree: Automatic Control, 2019, Linköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-159830

► This report proposes three algorithms using model predictive control (MPC) in order to improve the positioning accuracy of an unmanned vehicle. The developed algorithms… (more)

▼ This report proposes three algorithms using model predictive control (MPC) in order to improve the positioning accuracy of an unmanned vehicle. The developed algorithms succeed in reducing the uncertainty in position by allowing the vehicle to deviate from a planned path, and can also handle the presence of occluding objects. To achieve this improvement, a compromise is made between following a predefined trajectory and maintaining good positioning accuracy. Due to the recent development of threats to systems using global navigation satellite systems to localise themselves, there is an increased need for methods of localisation that can function without relying on receiving signals from distant satellites. One example of such a system is a vehicle using a range-bearing sensor in combination with a map to localise itself. However, a system relying only on these measurements to estimate its position during a mission may get lost or gain an unacceptable level of uncertainty in its position estimates. Therefore, this thesis proposes a selection of algorithms that have been developed with the purpose of improving the positioning accuracy of such an autonomous vehicle without changing the available measurement equipment. These algorithms are: A nonlinear MPC solving an optimisation problem.A linear MPC using a linear approximation of the positioning uncertainty to reduce the computational complexity.A nonlinear MPC using a linear approximation (henceforth called the approximate MPC) of an underlying component of the positioning uncertainty in order to reduce computational complexity while still having good performance. The algorithms were evaluated in two different types of simulated scenarios in MATLAB. In these simulations, the nonlinear, linear and approximate MPC algorithms reduced the root mean squared positioning error by 20-25 %, 14-18 %, and 23-27 % respectively, compared to a reference path. It was found that the approximate MPC seems to have the best performance of the three algorithms in the examined scenarios, while the linear MPC may be used in the event that this is too computationally costly. The nonlinear MPC solving the full problem is a reasonable choice only in the case when computing power is not limited, or when the approximation used in the approximate MPC is too inaccurate for the application.

Subjects/Keywords: MPC; positioning; nonlinear; linear; approximation; error; navigation; control; improved; covariance; Control Engineering; Reglerteknik

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APA (6^th Edition):

Sandmark, D. (2019). Navigation Strategies for Improved Positioning of Autonomous Vehicles. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-159830

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):

Sandmark, David. “Navigation Strategies for Improved Positioning of Autonomous Vehicles.” 2019. Thesis, Linköping University. Accessed March 04, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-159830.

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

MLA Handbook (7^th Edition):

Sandmark, David. “Navigation Strategies for Improved Positioning of Autonomous Vehicles.” 2019. Web. 04 Mar 2021.

Vancouver:

Sandmark D. Navigation Strategies for Improved Positioning of Autonomous Vehicles. [Internet] [Thesis]. Linköping University; 2019. [cited 2021 Mar 04]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-159830.

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

Council of Science Editors:

Sandmark D. Navigation Strategies for Improved Positioning of Autonomous Vehicles. [Thesis]. Linköping University; 2019. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-159830

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

Brno University of Technology

5. Graf, Miroslav. Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms.

Degree: 2019, Brno University of Technology

URL: http://hdl.handle.net/11012/16643

This thesis describes the theory of model predictive control and application of the theory to synchronous drives. It shows explicit and on-line solutions and compares the results with classical vector control structure. Advisors/Committee Members: Václavek, Pavel (advisor), Blaha, Petr (referee).

Subjects/Keywords: synchronní motor; střídavý pohon; MPC; prediktivní řízení; kvadratické programování; lineární programování; nelineární programování; optimalizace; diskretizace; omezení; synchronous drive; PMSM; MPC; nonlinear MPC; model predictive control; quadratic programming; linear programming; nonlinear programming; optimalization; cost function; discretization; constrains

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

APA (6^th Edition):

Graf, M. (2019). Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/16643

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):

Graf, Miroslav. “Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms.” 2019. Thesis, Brno University of Technology. Accessed March 04, 2021. http://hdl.handle.net/11012/16643.

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

MLA Handbook (7^th Edition):

Graf, Miroslav. “Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms.” 2019. Web. 04 Mar 2021.

Vancouver:

Graf M. Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms. [Internet] [Thesis]. Brno University of Technology; 2019. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/11012/16643.

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

Council of Science Editors:

Graf M. Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms. [Thesis]. Brno University of Technology; 2019. Available from: http://hdl.handle.net/11012/16643

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

Brno University of Technology

6. Graf, Miroslav. Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms.

Degree: 2014, Brno University of Technology

URL: http://hdl.handle.net/11012/1794

This thesis describes the theory of model predictive control and application of the theory to synchronous drives. It shows explicit and on-line solutions and compares the results with classical vector control structure. Advisors/Committee Members: Václavek, Pavel (advisor), Blaha, Petr (referee).

Subjects/Keywords: synchronní motor; střídavý pohon; MPC; prediktivní řízení; kvadratické programování; lineární programování; nelineární programování; optimalizace; diskretizace; omezení; synchronous drive; PMSM; MPC; nonlinear MPC; model predictive control; quadratic programming; linear programming; nonlinear programming; optimalization; cost function; discretization; constrains

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):

Graf, M. (2014). Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/1794

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):

Graf, Miroslav. “Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms.” 2014. Thesis, Brno University of Technology. Accessed March 04, 2021. http://hdl.handle.net/11012/1794.

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

MLA Handbook (7^th Edition):

Graf, Miroslav. “Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms.” 2014. Web. 04 Mar 2021.

Vancouver:

Graf M. Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms. [Internet] [Thesis]. Brno University of Technology; 2014. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/11012/1794.

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

Council of Science Editors:

Graf M. Moderní metody řízení střídavých elektrických pohonů: AC Drives Modern Control Algorithms. [Thesis]. Brno University of Technology; 2014. Available from: http://hdl.handle.net/11012/1794

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

University of Alberta

7. Ghafoor Mohseni, Padideh. Coordination Techniques for Distributed Model Predictive Control.

Degree: PhD, Department of Chemical and Materials Engineering, 2013, University of Alberta

URL: https://era.library.ualberta.ca/files/vx021g67f

► Industrial chemical plants are complex, highly integrated systems composed of geographically distributed processing units, linked together by material and energy streams. To ensure efficient operation… (more)

▼ Industrial chemical plants are complex, highly integrated systems composed of geographically distributed processing units, linked together by material and energy streams. To ensure efficient operation in such integrated plants, multivariable optimal control methods like MPC are required. Although centralized MPC may provide the best achievable control performance, issues such as lack of flexibility and maintainability make this approach impractical. The general industrial practice to plant-wide MPC is to recognize the distributed structure of the processing units to design a network of decentralized MPCs. Decentralized controllers avoid the disadvantages associated with centralized control at the expense of poorer plant-wide control performance. To improve the performance of decentralized controllers, Distributed MPC (DMPC) methods have become centre of attention in the plant-wide optimal control research community. DMPC methods are divided into two general classes of non-coordinated and coordinated approaches. Coordinated Distributed MPC (CDMPC) networks, which consist of distributed controllers and a coordinator, are able to yield optimal centralized solution under a wide range of conditions. This work addresses systematic development of CDMPC networks for plant-wide MPC of interconnected dynamical processes, by modifying the existing decentralized MPC network and designing coordinator. Goal Coordination, Interaction Prediction Coordination and Modified-Pseudo Model Coordination are the three coordination methods studied in this thesis to alter the network of decentralized linear constrained MPCs into CDMPC network. Convergence accuracy studies are provided for the proposed coordination algorithms. CDMPC networks are also developed to study the impacts of uncertainty on the CDMPC and coordinator design using an individual chance-constrained approach. By modifying the CDMPC and coordinator in the Goal Coordination method, it is shown that choosing efficient numerical strategies can improve convergence performance of the coordination algorithm. A novel linear CDMPC network, which has performance of centralized nonlinear MPC, is presented to address the plant-wide nonlinear MPC problem. Numerical simulations are provided to test performance of the proposed CDMPC networks.

Subjects/Keywords: Modified Pseudo-Model Coordination; Goal Coordination; Coordinated Distributed MPC; Plant-Wide Model Predictive Control; Chance-Constrained Coordinated Distributed MPC; Plant-Wide Nonlinear Model Predictive Control; Coordination Methods; Interaction Prediction Coordination

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

APA (6^th Edition):

Ghafoor Mohseni, P. (2013). Coordination Techniques for Distributed Model Predictive Control. (Doctoral Dissertation). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/vx021g67f

Chicago Manual of Style (16^th Edition):

Ghafoor Mohseni, Padideh. “Coordination Techniques for Distributed Model Predictive Control.” 2013. Doctoral Dissertation, University of Alberta. Accessed March 04, 2021. https://era.library.ualberta.ca/files/vx021g67f.

MLA Handbook (7^th Edition):

Ghafoor Mohseni, Padideh. “Coordination Techniques for Distributed Model Predictive Control.” 2013. Web. 04 Mar 2021.

Vancouver:

Ghafoor Mohseni P. Coordination Techniques for Distributed Model Predictive Control. [Internet] [Doctoral dissertation]. University of Alberta; 2013. [cited 2021 Mar 04]. Available from: https://era.library.ualberta.ca/files/vx021g67f.

Council of Science Editors:

Ghafoor Mohseni P. Coordination Techniques for Distributed Model Predictive Control. [Doctoral Dissertation]. University of Alberta; 2013. Available from: https://era.library.ualberta.ca/files/vx021g67f

Linköping University

8. Bärlund, Alexander. Nonlinear MPC for Motion Control and Thruster Allocation of Ships.

Degree: Automatic Control, 2019, Linköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-158493

► Critical automated maneuvers for ships typically require a redundant set of thrusters. The motion control system hierarchy is commonly separated into several layers using… (more)

Subjects/Keywords: MPC; nonlinear MPC; model predictive control; thruster allocation; thrust allocation; motion control; motion control system; ship; dynamic positioning; azimuth; azipod; Control Engineering; Reglerteknik

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APA (6^th Edition):

Bärlund, A. (2019). Nonlinear MPC for Motion Control and Thruster Allocation of Ships. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-158493

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):

Bärlund, Alexander. “Nonlinear MPC for Motion Control and Thruster Allocation of Ships.” 2019. Thesis, Linköping University. Accessed March 04, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-158493.

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

MLA Handbook (7^th Edition):

Bärlund, Alexander. “Nonlinear MPC for Motion Control and Thruster Allocation of Ships.” 2019. Web. 04 Mar 2021.

Vancouver:

Bärlund A. Nonlinear MPC for Motion Control and Thruster Allocation of Ships. [Internet] [Thesis]. Linköping University; 2019. [cited 2021 Mar 04]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-158493.

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

Council of Science Editors:

Bärlund A. Nonlinear MPC for Motion Control and Thruster Allocation of Ships. [Thesis]. Linköping University; 2019. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-158493

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

University of Waterloo

9. Tan, Derrick. Nonlinear Optimal Control of Automated Vehicles in a Connected Environment.

Degree: 2019, University of Waterloo

URL: http://hdl.handle.net/10012/15041

► This thesis is based around the University of Waterloo EcoCAR Team (UWAFT) and the EcoCAR Mobility Challenge. The overall objective of the competition is to… (more)

Subjects/Keywords: nonlinear mpc; mpc; model predictive control; nonlinear; control system; vehicle dynamics; vehicle modelling; path planning; nonlinear control; linear control; bicycle model; adams car; planar dynamics; ecocar; matlab; chevrolet blazer; general motors; connected and automated vehicles; regulation; optimal control

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APA (6^th Edition):

Tan, D. (2019). Nonlinear Optimal Control of Automated Vehicles in a Connected Environment. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/15041

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):

Tan, Derrick. “Nonlinear Optimal Control of Automated Vehicles in a Connected Environment.” 2019. Thesis, University of Waterloo. Accessed March 04, 2021. http://hdl.handle.net/10012/15041.

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

MLA Handbook (7^th Edition):

Tan, Derrick. “Nonlinear Optimal Control of Automated Vehicles in a Connected Environment.” 2019. Web. 04 Mar 2021.

Vancouver:

Tan D. Nonlinear Optimal Control of Automated Vehicles in a Connected Environment. [Internet] [Thesis]. University of Waterloo; 2019. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/10012/15041.

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

Council of Science Editors:

Tan D. Nonlinear Optimal Control of Automated Vehicles in a Connected Environment. [Thesis]. University of Waterloo; 2019. Available from: http://hdl.handle.net/10012/15041

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

10. Zarkadis, Kinstantinos. Model predictive torque vectoring control with active trail-braking for electric vehicles.

Degree: 2018, Cranfield University

URL: http://dspace.lib.cranfield.ac.uk/handle/1826/14346

► In this work we present the development of a torque vectoring controller for electric vehicles. The proposed controller distributes drive/brake torque between the four wheels… (more)

Subjects/Keywords: torque vectoring; MPC; nonlinear predictive control; FEV

…Nonlinear Torque Vectoring Control Development 5.1 Nonlinear MPC formulation… …MPC Model Predictive Control NMPC Nonlinear Model Predictive Control PDIP Primal-Dual… …braking and traction control. In [9, 32] both authors implemented a nonlinear MPC… …employed both linear and nonlinear MPC strategies integrating a slip controller and torque… …linear MPC suffers from poor performance at low speeds compared to the nonlinear one, but both…

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APA (6^th Edition):

Zarkadis, K. (2018). Model predictive torque vectoring control with active trail-braking for electric vehicles. (Thesis). Cranfield University. Retrieved from http://dspace.lib.cranfield.ac.uk/handle/1826/14346

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):

Zarkadis, Kinstantinos. “Model predictive torque vectoring control with active trail-braking for electric vehicles.” 2018. Thesis, Cranfield University. Accessed March 04, 2021. http://dspace.lib.cranfield.ac.uk/handle/1826/14346.

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

MLA Handbook (7^th Edition):

Zarkadis, Kinstantinos. “Model predictive torque vectoring control with active trail-braking for electric vehicles.” 2018. Web. 04 Mar 2021.

Vancouver:

Zarkadis K. Model predictive torque vectoring control with active trail-braking for electric vehicles. [Internet] [Thesis]. Cranfield University; 2018. [cited 2021 Mar 04]. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/14346.

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

Council of Science Editors:

Zarkadis K. Model predictive torque vectoring control with active trail-braking for electric vehicles. [Thesis]. Cranfield University; 2018. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/14346

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

11. Zarkadis, Kinstantinos. Model predictive torque vectoring control with active trail-braking for electric vehicles.

Degree: PhD, 2018, Cranfield University

URL: http://dspace.lib.cranfield.ac.uk/handle/1826/14346 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.783282

► In this work we present the development of a torque vectoring controller for electric vehicles. The proposed controller distributes drive/brake torque between the four wheels… (more)

Subjects/Keywords: torque vectoring; MPC; nonlinear predictive control; FEV

…Nonlinear Torque Vectoring Control Development 5.1 Nonlinear MPC formulation… …MPC Model Predictive Control NMPC Nonlinear Model Predictive Control PDIP Primal-Dual… …braking and traction control. In [9, 32] both authors implemented a nonlinear MPC… …employed both linear and nonlinear MPC strategies integrating a slip controller and torque… …linear MPC suffers from poor performance at low speeds compared to the nonlinear one, but both…

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

APA (6^th Edition):

Zarkadis, K. (2018). Model predictive torque vectoring control with active trail-braking for electric vehicles. (Doctoral Dissertation). Cranfield University. Retrieved from http://dspace.lib.cranfield.ac.uk/handle/1826/14346 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.783282

Chicago Manual of Style (16^th Edition):

Zarkadis, Kinstantinos. “Model predictive torque vectoring control with active trail-braking for electric vehicles.” 2018. Doctoral Dissertation, Cranfield University. Accessed March 04, 2021. http://dspace.lib.cranfield.ac.uk/handle/1826/14346 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.783282.

MLA Handbook (7^th Edition):

Zarkadis, Kinstantinos. “Model predictive torque vectoring control with active trail-braking for electric vehicles.” 2018. Web. 04 Mar 2021.

Vancouver:

Zarkadis K. Model predictive torque vectoring control with active trail-braking for electric vehicles. [Internet] [Doctoral dissertation]. Cranfield University; 2018. [cited 2021 Mar 04]. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/14346 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.783282.

Council of Science Editors:

Zarkadis K. Model predictive torque vectoring control with active trail-braking for electric vehicles. [Doctoral Dissertation]. Cranfield University; 2018. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/14346 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.783282

12. Pérez Roca, Sergio. Model-based robust transient control of reusable liquid-propellant rocket engines : Commande robuste basée modèle des régimes transitoires des moteurs fusée à ergols liquides réutilisables.

Degree: Docteur es, Automatique, 2020, université Paris-Saclay

URL: http://www.theses.fr/2020UPASS017

►

La tendance actuelle vers un accès plus abordable à l'espace se traduit par des lanceurs et moteurs réutilisables. Du point de vue du contrôle, ces… (more)

▼

La tendance actuelle vers un accès plus abordable à l'espace se traduit par des lanceurs et moteurs réutilisables. Du point de vue du contrôle, ces moteurs fusée à propergol liquide (MFPL) réutilisables impliquent des spécifications de robustesse plus exigeantes que ceux à usage unique, principalement en raison de leurs capacités de redémarrage multiple et de modulation de poussée. Classiquement, le système de contrôle gère les opérations des MFPL autour d'un ensemble fini de points prédéfinis. Cette approche réduit leur domaine de modulation à un intervalle restreint dans lequel ils sont conçus pour être sûrs. De plus, les phases transitoires, qui ont un impact important sur la vie du moteur, ne sont pas exécutées de manière robuste. L’objectif de ce travail est donc de développer une boucle de régulation adaptée à l’ensemble des phases d'opération (transitoire et régime permanent) et robuste aux variations paramétriques internes. Plusieurs blocs ont été développés pour constituer la boucle de régulation : simulation de moteur, génération de référence et contrôleurs. Des simulateurs représentatifs des moteurs à cycle générateur de gaz ont tout d'abord été construits. La modélisation purement thermodynamique du cycle a ensuite été adaptée au contrôle, afin d'obtenir des modèles non-linéaires sous forme d'état. Dans ces modèles, l'influence des entrées de commande continues (ouvertures des vannes) et des entrées discrètes (activation des allumeurs et démarreur) est considérée dans un cadre hybride simplifié. La sous-phase continue du transitoire de démarrage est contrôlée en boucle fermée pour suivre des trajectoires de référence pré-calculées. Outre le démarrage, les scénarios de modulation présentent également un algorithme pour le suivi des états finaux. Une méthode de contrôle à base de modèles, la commande prédictive, a été appliquée de manière linéarisée avec des considérations de robustesse à tous ces scénarios, dans lesquels des contraintes dures doivent être respectées. Le suivi des points de fonctionnement en pression (poussée) et du rapport de mélange dans l'enveloppe de conception est atteint en simulation tout en respectant les contraintes. La robustesse aux variations des paramètres, qui sont identifiés comme prédominants par des analyses, est également démontrée. Ce travail ouvre la voie à la validation expérimentale par des simulations hardware-in-the-loop ou des tests sur banc d'essai.

The current trend towards a more affordable access to space is materialising in reusable launchers and engines. From the control perspective, these reusable liquid-propellant rocket engines (LPRE) imply more demanding robustness requirements than expendable ones, mainly due to their multi-restart and thrust-modulation capabilities. Classically, the control system handles LPRE operation at a finite set of predefined points. That approach reduces their throttability domain to a narrow interval in which they are designed to be safe. Moreover, transient phases, which have a great impact on engine life, are not robustly…

Advisors/Committee Members: Piet-Lahanier, Hélène (thesis director), Langlois, Nicolas (thesis director).

Subjects/Keywords: Commande prédictive MPC; Moteur fusée à ergols liquides; Robustesse; Transitoires; Modélisation non-Linéaire orientée commande; Paramètres variants; MPC control; Liquid-Propellant rocket engine; Robustness; Transients; Control-Oriented nonlinear modelling; Parameter-Varying

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

APA (6^th Edition):

Pérez Roca, S. (2020). Model-based robust transient control of reusable liquid-propellant rocket engines : Commande robuste basée modèle des régimes transitoires des moteurs fusée à ergols liquides réutilisables. (Doctoral Dissertation). université Paris-Saclay. Retrieved from http://www.theses.fr/2020UPASS017

Chicago Manual of Style (16^th Edition):

Pérez Roca, Sergio. “Model-based robust transient control of reusable liquid-propellant rocket engines : Commande robuste basée modèle des régimes transitoires des moteurs fusée à ergols liquides réutilisables.” 2020. Doctoral Dissertation, université Paris-Saclay. Accessed March 04, 2021. http://www.theses.fr/2020UPASS017.

MLA Handbook (7^th Edition):

Pérez Roca, Sergio. “Model-based robust transient control of reusable liquid-propellant rocket engines : Commande robuste basée modèle des régimes transitoires des moteurs fusée à ergols liquides réutilisables.” 2020. Web. 04 Mar 2021.

Vancouver:

Pérez Roca S. Model-based robust transient control of reusable liquid-propellant rocket engines : Commande robuste basée modèle des régimes transitoires des moteurs fusée à ergols liquides réutilisables. [Internet] [Doctoral dissertation]. université Paris-Saclay; 2020. [cited 2021 Mar 04]. Available from: http://www.theses.fr/2020UPASS017.

Council of Science Editors:

Pérez Roca S. Model-based robust transient control of reusable liquid-propellant rocket engines : Commande robuste basée modèle des régimes transitoires des moteurs fusée à ergols liquides réutilisables. [Doctoral Dissertation]. université Paris-Saclay; 2020. Available from: http://www.theses.fr/2020UPASS017

13. Basrah, Mohd Sofian. Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles.

Degree: 2017, Cranfield University

URL: http://dspace.lib.cranfield.ac.uk/handle/1826/14257

► Vehicle electrification aims at improving energy efficiency and reducing pollutant emissions which creates an opportunity to use the electric machines (EM) as Regenerative Braking System… (more)

▼ Vehicle electrification aims at improving energy efficiency and reducing pollutant emissions which creates an opportunity to use the electric machines (EM) as Regenerative Braking System (RBS) to support the friction brake system. Anti-lock Braking System (ABS) is part of the active safety systems that help drivers to stop safely during panic braking while ensuring the vehicle’s stability and steerability. Nevertheless, the RBS is deactivated at a safe (low) deceleration threshold in favour of ABS. This safety margin results in significantly less energy recuperation than what would be possible if both RBS and ABS were able to operate simultaneously. Vehicle energy efficiency can be improved by integrating RBS and friction brakes to enable more frequent energy recuperation activations, especially during high deceleration demands. The main aim of this doctoral research is to design and implement new wheel slip control with torque blending strategies for various vehicle topologies using four, two and one EM. The integration between the two braking actuators will improve the braking performance and energy efficiency of the vehicle. It also enables ABS by pure EM in certain situations where the regenerative brake torque is sufficient. A novelmethod for integrating the wheel slip control and torque blending is developed using Nonlinear Model Predictive Control (NMPC). The method is well known for the optimal performance and enforcement of critical control and state constraints. A linear MPC strategy is also developed for comparison purpose. A pragmatic brake torque blending algorithm using Daisy-Chain with sliding mode slip control is also developed based on a pre-defined energy recuperation priority. Simulation using high fidelity model using co-simulation in Matlab/Simulink and CarMaker is used to validate the developed strategies. Different test patterns are used to evaluate the controllers’ performance which includes longitudinal and lateral motions of the vehicle. Comparison analysis is done for the proposed strategies for each case. The capability for real-time implementation of the MPC controllers is assessed in simulation testing using dSPACE hardware.

Subjects/Keywords: MPC; Nonlinear predictive control; brake blending; slip control; regenerative braking

…4.2 Integration of Torque Blending and Slip Control using MPC . . . . 4.2.1 Nonlinear MPC… …4 Torque Blending for Slip Control using four EMs 4.1 Overview of MPC… …4.2.2 Linear MPC . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3 Simulation with high… …fidelity vehicle model-MPC . . . . . . . . . . 4.3.1 Straight line braking on high µ road… …5.2 MPC strategies for integration of slip control and torque blending 5.3 Evaluation of…

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

APA (6^th Edition):

Basrah, M. S. (2017). Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles. (Thesis). Cranfield University. Retrieved from http://dspace.lib.cranfield.ac.uk/handle/1826/14257

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):

Basrah, Mohd Sofian. “Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles.” 2017. Thesis, Cranfield University. Accessed March 04, 2021. http://dspace.lib.cranfield.ac.uk/handle/1826/14257.

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

MLA Handbook (7^th Edition):

Basrah, Mohd Sofian. “Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles.” 2017. Web. 04 Mar 2021.

Vancouver:

Basrah MS. Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles. [Internet] [Thesis]. Cranfield University; 2017. [cited 2021 Mar 04]. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/14257.

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

Council of Science Editors:

Basrah MS. Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles. [Thesis]. Cranfield University; 2017. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/14257

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

14. Basrah, Mohd Sofian. Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles.

Degree: PhD, 2017, Cranfield University

URL: http://dspace.lib.cranfield.ac.uk/handle/1826/14257 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.775338

► Vehicle electrification aims at improving energy efficiency and reducing pollutant emissions which creates an opportunity to use the electric machines (EM) as Regenerative Braking System… (more)

▼ Vehicle electrification aims at improving energy efficiency and reducing pollutant emissions which creates an opportunity to use the electric machines (EM) as Regenerative Braking System (RBS) to support the friction brake system. Anti-lock Braking System (ABS) is part of the active safety systems that help drivers to stop safely during panic braking while ensuring the vehicle's stability and steerability. Nevertheless, the RBS is deactivated at a safe (low) deceleration threshold in favour of ABS. This safety margin results in significantly less energy recuperation than what would be possible if both RBS and ABS were able to operate simultaneously. Vehicle energy efficiency can be improved by integrating RBS and friction brakes to enable more frequent energy recuperation activations, especially during high deceleration demands. The main aim of this doctoral research is to design and implement new wheel slip control with torque blending strategies for various vehicle topologies using four, two and one EM. The integration between the two braking actuators will improve the braking performance and energy efficiency of the vehicle. It also enables ABS by pure EM in certain situations where the regenerative brake torque is sufficient. A novelmethod for integrating the wheel slip control and torque blending is developed using Nonlinear Model Predictive Control (NMPC). The method is well known for the optimal performance and enforcement of critical control and state constraints. A linear MPC strategy is also developed for comparison purpose. A pragmatic brake torque blending algorithm using Daisy-Chain with sliding mode slip control is also developed based on a pre-defined energy recuperation priority. Simulation using high fidelity model using co-simulation in Matlab/Simulink and CarMaker is used to validate the developed strategies. Different test patterns are used to evaluate the controllers' performance which includes longitudinal and lateral motions of the vehicle. Comparison analysis is done for the proposed strategies for each case. The capability for real-time implementation of the MPC controllers is assessed in simulation testing using dSPACE hardware.

Subjects/Keywords: MPC; Nonlinear predictive control; brake blending; slip control; regenerative braking

…4.2 Integration of Torque Blending and Slip Control using MPC . . . . 4.2.1 Nonlinear MPC… …4 Torque Blending for Slip Control using four EMs 4.1 Overview of MPC… …4.2.2 Linear MPC . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3 Simulation with high… …fidelity vehicle model-MPC . . . . . . . . . . 4.3.1 Straight line braking on high µ road… …5.2 MPC strategies for integration of slip control and torque blending 5.3 Evaluation of…

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

APA (6^th Edition):

Basrah, M. S. (2017). Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles. (Doctoral Dissertation). Cranfield University. Retrieved from http://dspace.lib.cranfield.ac.uk/handle/1826/14257 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.775338

Chicago Manual of Style (16^th Edition):

Basrah, Mohd Sofian. “Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles.” 2017. Doctoral Dissertation, Cranfield University. Accessed March 04, 2021. http://dspace.lib.cranfield.ac.uk/handle/1826/14257 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.775338.

MLA Handbook (7^th Edition):

Basrah, Mohd Sofian. “Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles.” 2017. Web. 04 Mar 2021.

Vancouver:

Basrah MS. Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles. [Internet] [Doctoral dissertation]. Cranfield University; 2017. [cited 2021 Mar 04]. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/14257 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.775338.

Council of Science Editors:

Basrah MS. Integration of anti-lock braking system and regenerative braking for hybrid/electric vehicles. [Doctoral Dissertation]. Cranfield University; 2017. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/14257 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.775338

Delft University of Technology

15. Van Duijkeren, N.J. (author). Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways.

Degree: 2014, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:5434052d-b939-4544-92df-ab584b5367d7

►

The so-called A-double long heavy vehicle combination is a 32 meter long and up to 80 tonnes heavy double-trailer truck widely used in Canada and… (more)

▼

The so-called A-double long heavy vehicle combination is a 32 meter long and up to 80 tonnes heavy double-trailer truck widely used in Canada and Australia today, and will be more abundant on the road also in Europe in the near future. They have the potential to decrease road transport cost, traffic congestion and generate lower emissions than current road freight transport. However, an undesired effect of the added towed units is the increase in difficulty to maneuver truck on roads and in busy traffic. The increasing complexity for truck drivers to handle trivial tasks like lane changing call for advanced driver assistance functions. The development of advanced assistance systems or potentially autonomous functioning trucks can improve traffic safety, allowing for further increase in use of long combination trucks. This thesis work focuses on one crucial element of such driver assistance systems, the ability to plan a safe and smooth trajectory and generate control signals for the low level actuators. Based on the measured vehicle-state, the road curvature and measurements of surrounding vehicles, a (sub)optimal steering action and cruise control reference velocity ought to be generated. A receding horizon optimal control problem (OCP) is formulated, with a nonlinear single-track vehicle prediction model for the A-double combination. The OCP is designed to capture the main highway driving tasks of lane keeping, lane changing and collision avoidance. A direct multiple-shooting solution strategy to this OCP is implemented using the automatic code-generation functionality of the ACADO toolkit. Results of closed-loop simulations are presented for the control of both the vehicle prediction model and a high-fidelity vehicle model, developed and validated by Volvo Group Truck Technology. Because of the computational performance advantages of the Real-Time Iteration algorithm and the automatic code-generation for the solution scheme, real-time performance is achieved for the optimization-based receding horizon trajectory generator for the A-double combination.

Systems & Control

Delft Center for Systems and Control

Mechanical, Maritime and Materials Engineering

Advisors/Committee Members: Keviczky, T. (mentor), Laine, L. (mentor), Nilsson, P. (mentor).

Subjects/Keywords: model predictive control; mpc; receding horizon; rhc; real-time; trajectory generation; trajectory generator; long combination; truck; driver assistance; collision avoidance; highway; volvo; nonlinear programming; optimal control; A-double

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

APA (6^th Edition):

Van Duijkeren, N. J. (. (2014). Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:5434052d-b939-4544-92df-ab584b5367d7

Chicago Manual of Style (16^th Edition):

Van Duijkeren, N J (author). “Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways.” 2014. Masters Thesis, Delft University of Technology. Accessed March 04, 2021. http://resolver.tudelft.nl/uuid:5434052d-b939-4544-92df-ab584b5367d7.

MLA Handbook (7^th Edition):

Van Duijkeren, N J (author). “Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways.” 2014. Web. 04 Mar 2021.

Vancouver:

Van Duijkeren NJ(. Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways. [Internet] [Masters thesis]. Delft University of Technology; 2014. [cited 2021 Mar 04]. Available from: http://resolver.tudelft.nl/uuid:5434052d-b939-4544-92df-ab584b5367d7.

Council of Science Editors:

Van Duijkeren NJ(. Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways. [Masters Thesis]. Delft University of Technology; 2014. Available from: http://resolver.tudelft.nl/uuid:5434052d-b939-4544-92df-ab584b5367d7

Queens University

16. Al Ramadan, Hussain. Stochastic Sampled-data Model Predictive Control for Nonlinear Systems .

Degree: Chemical Engineering, Queens University

URL: http://hdl.handle.net/1974/24244

► Stochastic Model Predictive Control (SMPC) has been the focus of intense research in the last years. The objective of SMPC is to design control systems… (more)

▼ Stochastic Model Predictive Control (SMPC) has been the focus of intense research in the last years. The objective of SMPC is to design control systems corrupted by stochastic noise. Existing solutions include the implementation of Robust MPC schemes, where the worst case scenario is taken into account. As this approach often results in conservative and expensive solutions, a number of researchers have addressed the need for more optimistic and realistic tailored control schemes that can handle stochastic process behaviour. SMPC gives practitioners a tool to take most realization of uncertainty in the controller design, while guaranteeing feasibility and stability. The work presented in this thesis focuses on developing an SMPC algorithm for nonlinear systems with additive stochastic uncertainty. The scheme is carried out in a fast sampled-data approach, which yields an advantageous computational load. We develop a sampled-data scheme for deterministic systems through sampling control moves. Two sampled-data schemes have been proposed and examined in benchmark simulations including a CSTR system. The first scheme considers a hybrid control system, where a continuous-time flow control occurs during a fine time grid, and a discrete-time jump control looks after jumps in a coarse time grid. The second scheme is a complete sampled-data system through discrete control moves throughout the two time grids. It was shown that the second control scheme succeeded in reducing the cost function along with a huge reduction in CPU time for all the simulations. Secondly, the latter sampled-data scheme was modified to handle stochastic noise through the inclusion of an expected cost and probabilistic constraints. The resulting control can handle moderate noise signals and produce much better results than conventional nonlinear SMPC schemes. The proposed stochastic sampled-data MPC scheme is designed to tackle nonlinear dynamical systems with moderate noise signals with a large precision and low CPU time.

Subjects/Keywords: Stochastic ; Sampled-Data ; MPC ; Model ; Predictive ; Control ; Model Predictive Control ; SMPC ; NMPC ; Nonlinear Systems ; Constraint Tightening

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APA (6^th Edition):

Al Ramadan, H. (n.d.). Stochastic Sampled-data Model Predictive Control for Nonlinear Systems . (Thesis). Queens University. Retrieved from http://hdl.handle.net/1974/24244

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Al Ramadan, Hussain. “Stochastic Sampled-data Model Predictive Control for Nonlinear Systems .” Thesis, Queens University. Accessed March 04, 2021. http://hdl.handle.net/1974/24244.

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Al Ramadan, Hussain. “Stochastic Sampled-data Model Predictive Control for Nonlinear Systems .” Web. 04 Mar 2021.

Note: this citation may be lacking information needed for this citation format:
No year of publication.

Vancouver:

Al Ramadan H. Stochastic Sampled-data Model Predictive Control for Nonlinear Systems . [Internet] [Thesis]. Queens University; [cited 2021 Mar 04]. Available from: http://hdl.handle.net/1974/24244.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

Council of Science Editors:

Al Ramadan H. Stochastic Sampled-data Model Predictive Control for Nonlinear Systems . [Thesis]. Queens University; Available from: http://hdl.handle.net/1974/24244

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

17. Flila, Saïda. Identification optimale et commande prédictive : applications en génie des procédés : Optimal identification and predictive controller : application in chemical engineering.

Degree: Docteur es, Automatique, 2010, Université Claude Bernard – Lyon I

URL: http://www.theses.fr/2010LYO10027

►

L'objectif principal de ce travail a été d'apporter une nouvelle contribution quant à l'approche de contrôle optimal pendant la phase d'identification. Il s'agissait de trouver… (more)

▼

L'objectif principal de ce travail a été d'apporter une nouvelle contribution quant à l'approche de contrôle optimal pendant la phase d'identification. Il s'agissait de trouver la commande à appliquer pendant l'expérience qui permet d'optimiser un critère qui est fonction des sensibilités des sorties par rapport aux paramètres du modèle à identifier. Cette approche couplant contrôleur prédictif sous contraintes et estimateur a résolu en ligne le problème d'identification à chaque instant en utilisant l'observateur. En ce sens, c'est une approche permettant d'automatiser et d'optimiser le design d'expérience, tout en réalisant conjointement l'identification d'un paramètre du modèle spécifié. L'aspect temps réel a été pris en compte dans la formulation de la solution apportée. Dans ce contexte, nous avons introduit deux stratégies de commande pour l'identification optimale. La première était basée sur un modèle de prédiction non linéaire et la seconde sur un modèle linéaire temps variant. Si le temps devient un paramètre critique pour l'implémentation de l'approche, cette dernière vise à réduire le temps alloué à l'optimisation. L'approche d'identification optimale en ligne a été appliquée à deux problèmes concrets du Génie des Procédés (réaction de saponification et cuisson de peintures). Ces exemples ont permis de vérifier en simulation, l'efficacité et la faisabilité de cette approche.

The main aim of this work is to give a new approach of optimal control during the phase of identification. The question is how to tune the control action to be applied during the experiment optimize a criterion which is function of the sensitivities of the mesure with respect to the parameters of the model to be identified. This approach coupling constrained predictive controller and estimator solves on line the problem of identification by using the observer. In that sense, it is an approach allowing an optimal and automatic design of experiment, while performing at the same time the identification of one parameter of the specified model. The real time aspect was taken into account in the formulation of the solution. In this context, we introduced two strategies for optimal identification : the first one is based on a nonlinear model of prediction and the second one is based on a linear time varying model that may be used if the real time aspect becomes a critical parameter for the implementation of the approach. This approach of on line optimal identification was applied on two concrete problems in Chemical Engineering. These examples show the performance and the feasibility of this approach.

Advisors/Committee Members: Hammouri, Hassan (thesis director), Dufour, Pascal (thesis director).

Subjects/Keywords: Identification optimale en ligne; Plan d'expérience; Sensibilité paramètrique; Systèmes non-linéaires; Commande prédictive; Observateurs non-linéaires; Résolution numérique; Optimisation sous contraintes; Online optimal input design; Design of experiment; Parametric sensitivity; Nonlinear system; MPC; Observer; Numerical resolution; Constrained optimization; 629.8

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

APA (6^th Edition):

Flila, S. (2010). Identification optimale et commande prédictive : applications en génie des procédés : Optimal identification and predictive controller : application in chemical engineering. (Doctoral Dissertation). Université Claude Bernard – Lyon I. Retrieved from http://www.theses.fr/2010LYO10027

Chicago Manual of Style (16^th Edition):

Flila, Saïda. “Identification optimale et commande prédictive : applications en génie des procédés : Optimal identification and predictive controller : application in chemical engineering.” 2010. Doctoral Dissertation, Université Claude Bernard – Lyon I. Accessed March 04, 2021. http://www.theses.fr/2010LYO10027.

MLA Handbook (7^th Edition):

Flila, Saïda. “Identification optimale et commande prédictive : applications en génie des procédés : Optimal identification and predictive controller : application in chemical engineering.” 2010. Web. 04 Mar 2021.

Vancouver:

Flila S. Identification optimale et commande prédictive : applications en génie des procédés : Optimal identification and predictive controller : application in chemical engineering. [Internet] [Doctoral dissertation]. Université Claude Bernard – Lyon I; 2010. [cited 2021 Mar 04]. Available from: http://www.theses.fr/2010LYO10027.

Council of Science Editors:

Flila S. Identification optimale et commande prédictive : applications en génie des procédés : Optimal identification and predictive controller : application in chemical engineering. [Doctoral Dissertation]. Université Claude Bernard – Lyon I; 2010. Available from: http://www.theses.fr/2010LYO10027

18. Park, Junho. Nonlinear Model Predictive Control for a Managed Pressure Drilling with High-Fidelity Drilling Simulators.

Degree: MS, 2018, Brigham Young University

URL: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7792&context=etd

► The world's energy demand has been rapidly increasing and is projected to continue growing for at least the next two decades. With increasing global energy… (more)

▼ The world's energy demand has been rapidly increasing and is projected to continue growing for at least the next two decades. With increasing global energy demand and competition from renewable energy, the oil and gas industry is striving for more efficient petroleum production. Many technical breakthroughs have enabled the drilling industry to expand the exploration to more difficult drilling such as deepwater drilling and multilateral directional drilling. For example, managed pressure drilling (MPD) offers ceaseless operation with multiple manipulated variables (MV) and wired drill pipe (WDP) provides two-way, high-speed measurements from bottom hole and along-string sensors. These technologies have maximum benefit when applied in an automation system or as a real-time advisory tool. The objective of this study is to investigate the benefit of nonlinear model-based control and estimation algorithms with various types of models. This work presents a new simplified flow model (SFM) for bottomhole pressure (BHP) regulation in MPD operations. The SFM is embedded into model-based control and estimation algorithms that use model predictive control (MPC) and moving horizon estimation (MHE), respectively. This work also presents a new Hammerstein-Wiener nonlinear model predictive controller for BHP regulation. Hammerstein-Wiener models employ input and output static nonlinear blocks before and after linear dynamics blocks to simplify the controller design. The control performance of the new Hammerstein-Wiener nonlinear controller is superior to conventional PID controllers in a variety of drilling scenarios. Conventional controllers show severe limitations in MPD because of the interconnected multivariable and nonlinear nature of drilling operations. BHP control performance is evaluated in scenarios such as drilling, pipe connection, kick attenuation, and mud density displacement and the efficacy of the SFM and Hammerstein-Wiener models is tested in various control schemes applicable to both WDP and mud pulse systems. Trusted high-fidelity drilling simulators are used to simulate well conditions and are used to evaluate the performance of the controllers using the SFM and Hammerstein-Wiener models. The comparison between non-WDP (semi-closed loop) and WDP (full-closed loop) applications validates the accuracy of the SFM under the set of conditions tested and confirms comparability with model-based control and estimation algorithms. The SFM MPC maintains the BHP within ± 1 bar of the setpoint for each investigated scenario, including for pipe connection and mud density displacement procedures that experience a wider operation range than normal drilling.

Subjects/Keywords: managed pressure drilling; nonlinear model predictive control; moving horizon estimation; Hammerstein-Wiener MPC; simplified drilling flow model; Chemical Engineering

…characteristics or nonlinear behavior, thereby limiting the potential application of linear MPC. The… …attempt to apply a nonlinear MPC algorithm for drilling [21, 29–31]. These studies… …concept of MPC Schematic illustration of receding horizon concept of MHE… …Structure of the Hammerstein-Weiner based MPC system . . . . . . . . . . . . . . Model matrix with… …LP LWD MWD PWD RCD RSS MD MPC MHE MIMO MPD MPT MV SISO NMPC NPT PID QP ROP RPM SFM SP SPhi…

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APA (6^th Edition):

Park, J. (2018). Nonlinear Model Predictive Control for a Managed Pressure Drilling with High-Fidelity Drilling Simulators. (Masters Thesis). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7792&context=etd

Chicago Manual of Style (16^th Edition):

Park, Junho. “Nonlinear Model Predictive Control for a Managed Pressure Drilling with High-Fidelity Drilling Simulators.” 2018. Masters Thesis, Brigham Young University. Accessed March 04, 2021. https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7792&context=etd.

MLA Handbook (7^th Edition):

Park, Junho. “Nonlinear Model Predictive Control for a Managed Pressure Drilling with High-Fidelity Drilling Simulators.” 2018. Web. 04 Mar 2021.

Vancouver:

Park J. Nonlinear Model Predictive Control for a Managed Pressure Drilling with High-Fidelity Drilling Simulators. [Internet] [Masters thesis]. Brigham Young University; 2018. [cited 2021 Mar 04]. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7792&context=etd.

Council of Science Editors:

Park J. Nonlinear Model Predictive Control for a Managed Pressure Drilling with High-Fidelity Drilling Simulators. [Masters Thesis]. Brigham Young University; 2018. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7792&context=etd

ETH Zürich

19. Muehlebach, Michael. On the Stabilization of Unstable Systems - Some Comments and Applications.

Degree: 2018, ETH Zürich

URL: http://hdl.handle.net/20.500.11850/254022

Subjects/Keywords: CONTROL SYSTEMS THEORY (MATHEMATICS); Model Predictive Control (MPC); NONLINEAR CONTROL SYSTEMS (AUTOMATIC CONTROL); Distributed estimation and control; Robotics; info:eu-repo/classification/ddc/621.3; Electric engineering

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APA (6^th Edition):

Muehlebach, M. (2018). On the Stabilization of Unstable Systems - Some Comments and Applications. (Doctoral Dissertation). ETH Zürich. Retrieved from http://hdl.handle.net/20.500.11850/254022

Chicago Manual of Style (16^th Edition):

Muehlebach, Michael. “On the Stabilization of Unstable Systems - Some Comments and Applications.” 2018. Doctoral Dissertation, ETH Zürich. Accessed March 04, 2021. http://hdl.handle.net/20.500.11850/254022.

MLA Handbook (7^th Edition):

Muehlebach, Michael. “On the Stabilization of Unstable Systems - Some Comments and Applications.” 2018. Web. 04 Mar 2021.

Vancouver:

Muehlebach M. On the Stabilization of Unstable Systems - Some Comments and Applications. [Internet] [Doctoral dissertation]. ETH Zürich; 2018. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/20.500.11850/254022.

Council of Science Editors:

Muehlebach M. On the Stabilization of Unstable Systems - Some Comments and Applications. [Doctoral Dissertation]. ETH Zürich; 2018. Available from: http://hdl.handle.net/20.500.11850/254022

Université de Grenoble

20. Rahmani, Mustapha Amine. Gestion de l'énergie d'une micro-centrale solaire thermodynamique : Energy management of a solar thermodynamic micro power plant.

Degree: Docteur es, Automatique et productique, 2014, Université de Grenoble

URL: http://www.theses.fr/2014GRENT077

►

Cette thèse s'inscrit dans le cadre du projet collaboratif MICROSOL, mené par Schneider Electric, et qui oeuvre pour le développement de micros centrales solaires thermodynamiques… (more)

▼

Cette thèse s'inscrit dans le cadre du projet collaboratif MICROSOL, mené par Schneider Electric, et qui oeuvre pour le développement de micros centrales solaires thermodynamiques destinées à la production d'électricité en sites isolés (non connectés au réseau électrique) en exploitant l'énergie thermique du soleil. Le but de cette thèse étant le développement de lois de commande innovantes et efficaces pour la gestion de l'énergie de deux types de micros centrales solaires thermodynamiques : à base de moteur à cycle de Stirling et à base de machines à Cycle de Rankine Organique (ORC). Dans une première partie, nous considérons une centrale solaire thermodynamique à base de machine à cycle de Stirling hybridée à un supercondensateur comme moyen de stockage d'énergie tampon. Dans ce cadre, nous proposons une première loi de commande validée expérimentalement, associée au système de conversion d'énergie du moteur Stirling, qui dote le système de performances quasi optimales en termes de temps de réponse ce qui permet de réduire la taille du supercondensateur utilisé. Une deuxième loi de commande qui gère explicitement les contraintes du système tout en dotant ce dernier de performances optimales en terme de temps de réponse, est également proposée. Cette dernière loi de commande est en réalité plus qu'un simple contrôleur, elle constitue une méthodologie de contrôle applicable pour une famille de systèmes de conversion de l'énergie.Dans une deuxième partie, nous considérons une centrale solaire thermodynamique à base de machine à cycle de Rankine Organique (ORC) hybridée à un banc de batteries comme moyen de stockage d'énergie tampon. Etant donné que ce système fonctionne à vitesse de rotation fixe pour la génératrice asynchrone qui est connectée à un système de conversion d'énergie commercial, nous proposons une loi de commande prédictive qui agit sur la partie thermodynamique de ce système afin de le faire passer d'un point de fonctionnement à un autre, lors des appels de puissance des charges électriques, le plus rapidement possible (pour réduire le dimensionnement des batteries) tout en respectant les contraintes physiques du système. La loi de commande prédictive développée se base sur un modèle dynamique de la machine ORC identifié expérimentalement grâce à un algorithme d'identification nonlinéaire adéquat.

This Ph.D thesis was prepared in the scope of the MICROSOL project, ledby Schneider Electric, that aims at developing Off-grid solar thermodynamic micro powerplants exploiting the solar thermal energy. The aim of this thesis being the development of innovative and efficient control strategies for the energy management of two kinds of solar thermodynamic micro power plants: based on Stirling engine and based and Organic RankineCycle (ORC) machines.In a first part, we consider the Stirling based solar thermodynamic micro power planthybridized with a supercapacitor as an energy buffer. Within this framework, we propose afirst experimentally validated control strategy, associated to the energy conversion…

Advisors/Committee Members: Alamir, Mazen (thesis director).

Subjects/Keywords: Centrales solaires thermodynamiques; Moteurs Stirling; Machines à cycle de Rankine Organique (ORC); Contrôle des systèmes de conversion de l'énergie; Contrôle prédictif et par mode glissant; Identification de modèles non linéaires; Solar thermodynamic power plants; Stirling engines; Organic Rankine Cycle (ORC) machines; Control of energy conversion systems; Model predictive control (MPC); Sliding mode control; Nonlinear model identification; 620

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APA (6^th Edition):

Rahmani, M. A. (2014). Gestion de l'énergie d'une micro-centrale solaire thermodynamique : Energy management of a solar thermodynamic micro power plant. (Doctoral Dissertation). Université de Grenoble. Retrieved from http://www.theses.fr/2014GRENT077

Chicago Manual of Style (16^th Edition):

Rahmani, Mustapha Amine. “Gestion de l'énergie d'une micro-centrale solaire thermodynamique : Energy management of a solar thermodynamic micro power plant.” 2014. Doctoral Dissertation, Université de Grenoble. Accessed March 04, 2021. http://www.theses.fr/2014GRENT077.

MLA Handbook (7^th Edition):

Rahmani, Mustapha Amine. “Gestion de l'énergie d'une micro-centrale solaire thermodynamique : Energy management of a solar thermodynamic micro power plant.” 2014. Web. 04 Mar 2021.

Vancouver:

Rahmani MA. Gestion de l'énergie d'une micro-centrale solaire thermodynamique : Energy management of a solar thermodynamic micro power plant. [Internet] [Doctoral dissertation]. Université de Grenoble; 2014. [cited 2021 Mar 04]. Available from: http://www.theses.fr/2014GRENT077.

Council of Science Editors:

Rahmani MA. Gestion de l'énergie d'une micro-centrale solaire thermodynamique : Energy management of a solar thermodynamic micro power plant. [Doctoral Dissertation]. Université de Grenoble; 2014. Available from: http://www.theses.fr/2014GRENT077

Texas A&M University

21. RafieiSakhaei, MohammadHussein. A Decoupling Principle for Simultaneous Localization and Planning Under Uncertainty in Multi-Agent Dynamic Environments.

Degree: PhD, Electrical Engineering, 2017, Texas A&M University

URL: http://hdl.handle.net/1969.1/187292

► Simultaneous localization and planning for nonlinear stochastic systems under process and measurement uncertainties is a challenging problem. In its most general form, it is formulated… (more)

▼ Simultaneous localization and planning for nonlinear stochastic systems under process and measurement uncertainties is a challenging problem. In its most general form, it is formulated as a stochastic optimal control problem in the space of feedback policies. The Hamilton-Jacobi-Bellman equation provides the theoretical solution of the optimal problem; but, as is typical of almost all nonlinear stochastic systems, optimally solving the problem is intractable. Moreover, even if an optimal solution was obtained, it would require centralized control, while multi-agent mobile robotic systems under dynamic environments require decentralized solutions. In this study, we aim for a theoretically sound solution for various modes of this problem, including the single-agent and multi-agent variations with perfect and imperfect state information, where the underlying state, control and observation spaces are continuous with discrete-time models. We introduce a decoupling principle for planning and control of multi-agent nonlinear stochastic systems based on a small noise asymptotics. Through this decoupling principle, under small noise, the design of the real-time feedback law can be decoupled from the off-line design of the nominal trajectory of the system. Further, for a multi-agent problem, the design of the feedback laws for different agents can be decoupled from each other, reducing the centralized problem to a decentralized problem requiring no communication during execution. The resulting solution is quantifiably near-optimal. We establish this result for all the above-mentioned variations, which results in the following variants: Trajectory-optimized Linear Quadratic Regulator (T-LQR), Multi-agent T-LQR (MT-LQR), Trajectory-optimized Linear Quadratic Gaussian (T-LQG), and Multi-agent T-LQG (MT-LQG). The decoupling principle provides the conditions under which a decentralized linear Gaussian system with a quadratic approximation of the cost, obtained by linearization around an optimally designed nominal trajectory can be utilized to control the nonlinear system. The resulting decentralized feedback solution at runtime, being decoupled with respect to the mobile agents, requires no communication between the agents during the execution phase. Moreover, the complexity of the solution vis-a-vis the computation of the nominal trajectory as well as the closed-loop gains is tractable with low polynomial orders of computation. Experimental implementation of the solution shows that the results hold for moderate levels of noise with high probability. Further optimizing the performance of this approach we show how to design a special cost function for the problem with imperfect state measurement that takes advantage of the fact that the estimation covariance of a linear Gaussian system is deterministic and not dependent on the observations. This design, which corresponds in our overall design to “belief space planning”, incorporates the consequently deterministic cost of the stochastic feedback system into the deterministic… Advisors/Committee Members: Kumar, P. R. (advisor), Chakravorty, Suman (advisor), Shakkottai, Srinivas (committee member), Datta, Aniruddha (committee member).

Subjects/Keywords: Decoupling Principle; POMDP; MDP; Stochastic Optimal Control; Simultaneous Localisation and Planning; SLAP; Optimal Control; LQG; T-LQG; MT-LQG; T-LQR; MT-LQR; Separation Principle; Robotic Path Planning; Dynamical Systems; Motion Planning Under Uncertainty; Process Uncertainty; Measurement Uncertainty; Nonlinear Stochastic Systems; Large Deviations; Small Noise; Multi-Agent Planning and Control; Decentralized Planning; MPOMDP; Factored POMDP; MPC; RHC; Obstacle Avoidance; Collision Avoidance; Observability Gramian; Dec-POMDP; Convex Motion Planning; Planning Under Non-Gaussian Uncertainty; Dynamic Environments

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

APA (6^th Edition):

RafieiSakhaei, M. (2017). A Decoupling Principle for Simultaneous Localization and Planning Under Uncertainty in Multi-Agent Dynamic Environments. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/187292

Chicago Manual of Style (16^th Edition):

RafieiSakhaei, MohammadHussein. “A Decoupling Principle for Simultaneous Localization and Planning Under Uncertainty in Multi-Agent Dynamic Environments.” 2017. Doctoral Dissertation, Texas A&M University. Accessed March 04, 2021. http://hdl.handle.net/1969.1/187292.

MLA Handbook (7^th Edition):

RafieiSakhaei, MohammadHussein. “A Decoupling Principle for Simultaneous Localization and Planning Under Uncertainty in Multi-Agent Dynamic Environments.” 2017. Web. 04 Mar 2021.

Vancouver:

RafieiSakhaei M. A Decoupling Principle for Simultaneous Localization and Planning Under Uncertainty in Multi-Agent Dynamic Environments. [Internet] [Doctoral dissertation]. Texas A&M University; 2017. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/1969.1/187292.

Council of Science Editors:

RafieiSakhaei M. A Decoupling Principle for Simultaneous Localization and Planning Under Uncertainty in Multi-Agent Dynamic Environments. [Doctoral Dissertation]. Texas A&M University; 2017. Available from: http://hdl.handle.net/1969.1/187292

22. Douglas, Jacob Martin. Online Model Predictive Control of a Nonisothermal and Nonisobaric Membrane Reactor for Water-Gas Shift Reaction Applications.

Degree: MS, Chemical and Biomedical Engineering, 2019, West Virginia University

URL: https://doi.org/10.33915/etd.3800 ; https://researchrepository.wvu.edu/etd/3800

► Online Model Predictive Control of a Nonisothermal and Nonisobaric Membrane Reactor for Water-Gas Shift Reaction Applications Jacob M. Douglas Modern hydrogen production units are… (more)

▼ Online Model Predictive Control of a Nonisothermal and Nonisobaric Membrane Reactor for Water-Gas Shift Reaction Applications Jacob M. Douglas Modern hydrogen production units are tasked with producing the most hydrogen possible while dealing with flow variations caused by changing power demands. Classical methods for hydrogen production employing the water-gas shift reaction are governed by equilibrium limitations that take effect at high temperatures and high concentrations of H2 (Georgis, et al., 2014). The implementation of a membrane reactor with temperature control enables the hydrogen concentration and temperature to reach an equilibrium at a higher concentration of H2. Another challenge that is prevalent in this process is the cyclical hydrogen demand from changing downstream reforming process conditions. These challenges can be addressed by the implementation of advanced controllers that can cope with dynamic changes associated with different conditions, such as temperature oscillations and mitigation of hot spots. In this thesis, linear and nonlinear model predictive control (MPC) methods are implemented on a designed water-gas shift membrane reactor model in Aspen Custom Modeler. The implementation aim is to increase the production of hydrogen by considering the temperature control performed by manipulating the flow rates of the coolant entering the cooling jacket at different reactor zones as well as the reactor sweep flowrate. The control strategies considered for this application are: Quadratic iii Dynamic Matrix Control (QDMC), Nonlinear MPC (NMPC), and a Biomimetic-based controller cast as MPC (BIO-CS as MPC) (Mirlekar, et al., 2018) . The coolant usage is constrained by the use of quadratic programing (QP), sequential quadratic programing (SQP), or dynamic operations toolbox (DYNOP) solvers, depending on the employed MPC type, to match industrial standards. To mimic industrial conditions, the flowrate of hydrogen in the sweep stream is changed by +15% from its operating steady state. The MPC results that will be discussed show a successful increase in the production 1. Georgis, D., and Lima, F. V. (2014). Thermal Management of a Water-Gas Shift Membrane Reactor for High-Purity Hydrogen Production and Carbon Capture. Industrial & Engineering Chemistry Research, 7461-7469. 2. Mirlekar, G. V., Li, S., and Lima, F. V. (2017). Design and Implementation of a Biologically-inspired Optimal Control Strategy (BIO-CS) for Chemical Advisors/Committee Members: Fernando V. Lima, Debangsu Bhattacharyya, Debangsu Bhattacharyya.

Subjects/Keywords: Online Model Predictive Control; Quadratic Dynamic Matrix Control; Nonlinear Model Predictive Control; Biomimetic-based Controller cast as MPC; Process Control and Systems

…Custom Model, and (iv) implementation of nonlinear MPC on the water-gas shift… …linear and nonlinear MPCs. This study will lead to the discovery of which MPC strategies are… …Setpoint Change For this research, the nonlinear MPC controller that was chosen is NMPC. The… …nonlinear MPC strategies are expected to have a higher computational expense but are expected to… …19 5.1.3 Nonlinear Identification Model…

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APA (6^th Edition):

Douglas, J. M. (2019). Online Model Predictive Control of a Nonisothermal and Nonisobaric Membrane Reactor for Water-Gas Shift Reaction Applications. (Thesis). West Virginia University. Retrieved from https://doi.org/10.33915/etd.3800 ; https://researchrepository.wvu.edu/etd/3800

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):

Douglas, Jacob Martin. “Online Model Predictive Control of a Nonisothermal and Nonisobaric Membrane Reactor for Water-Gas Shift Reaction Applications.” 2019. Thesis, West Virginia University. Accessed March 04, 2021. https://doi.org/10.33915/etd.3800 ; https://researchrepository.wvu.edu/etd/3800.

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

MLA Handbook (7^th Edition):

Douglas, Jacob Martin. “Online Model Predictive Control of a Nonisothermal and Nonisobaric Membrane Reactor for Water-Gas Shift Reaction Applications.” 2019. Web. 04 Mar 2021.

Vancouver:

Douglas JM. Online Model Predictive Control of a Nonisothermal and Nonisobaric Membrane Reactor for Water-Gas Shift Reaction Applications. [Internet] [Thesis]. West Virginia University; 2019. [cited 2021 Mar 04]. Available from: https://doi.org/10.33915/etd.3800 ; https://researchrepository.wvu.edu/etd/3800.

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

Council of Science Editors:

Douglas JM. Online Model Predictive Control of a Nonisothermal and Nonisobaric Membrane Reactor for Water-Gas Shift Reaction Applications. [Thesis]. West Virginia University; 2019. Available from: https://doi.org/10.33915/etd.3800 ; https://researchrepository.wvu.edu/etd/3800

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