The use of linear parameter varying lpv prediction models has been proven to be an effective solution to develop model predictive control mpc algorithms for linear and nonlinear systems. In this paper, we consider output feedback model predictive control mpc for linear parameter varying lpv systems with input constraints. In order to reduce the online computational burdens, a sequence of explicit control laws corresponding to a. Stabilizing nonlinear mpc using linear parametervarying. Ieice transactions on fundamentals of electronics, communications and computer sciences, e89a8, 21662172. Linear mpc is tuned to control a nonlinear process but with difficulty because of the high. Adaptive mpc controllers adjust their prediction model at run time to compensate for nonlinear or time varying plant characteristics. Pdf an efficient noncondensed approach for linear and.
The system array size is equal to the grid size in scheduling space. A stabilizing suboptimal model predictive control for quasilinear. Anticipative model predictive control for linear parametervarying. In this paper, an empc is designed to perform a doublelanechange dlc maneuver.
On the other hand, the use of a lpvmpc control approach allows the controller to consider nonlinearities in the model in a linear like way. Adaptive model predictive control for constrained, linear. Processes with uncertain and time varying parameters, requiring online parameter estimation. This article investigates a tube model predictive control scheme ensuring. Linear model predictive control in simulink youtube. The proposed controller relies on the constraint tightening method to guarantee that the mpcs optimization problem remains feasible in the presence of additive disturbances. This task has been employed to demonstrate the efficacy of. Chapter 3 nonlinear model predictive control in this chapter, we introduce the nonlinear model predictive control algorithm in a rigorous way. An adaptive model predictive control controller is designed to control the fast varying center of gravity angle in the inner loop. This example requires simulink control design software to define the mpc structure by linearizing a nonlinear simulink model.
Pdf computationally efficient model predictive control for. Explicit model predictive control for systems with linear. A predictive envelope protection system using linear. For more details, see adaptive mpc control of nonlinear chemical reactor using linear parameter varying system. The controller is designed based on two different approaches and results have been compared. Adaptive mpc control of nonlinear chemical reactor using linear. In this paper, a new offline model predictive control strategy is presented for a kind of linear parameter varying system with polytopic uncertainty. Anticipative model predictive control for linear parameter varying systems hanema, j. Using largescale nonlinear programming solvers such as apopt and ipopt, it solves data reconciliation, moving horizon estimation, realtime optimization, dynamic simulation, and. Explicit model predictive control for systems with linear parametervarying state. Adaptive model predictive control for cruise control of high. Identification of linear parameter varying models bamieh. Model predictive control of a nonlinear system with. A linear parameter varying lpv system consisting of three linear plant models is constructed offline to describe the local plant dynamics across the operating range.
Polytopic linear parameter varying modelbased tube model. An improved robust model predictive control for linear. Nemirovskiadjustable robust solutions of uncertain linear programs. Autonomous racing using linear parameter varyingmodel. Linear parameter varying lpv theory is used to model the dynamics of the vehicle and implement an lpvmodel predictive controller lpvmpc that can be computed online with reduced computational cost. In the context of model predictive control mpc, it is desirable that the. An offline robust constrained model predictive control mpc algorithm for linear time varying ltv systems is developed. Explicit model predictive control empc has been proposed to reduce the huge computational complexity of mpc while maintaining the performance of mpc.
In this thesis, we deal with aspects of linear model predictive control, or mpc for short. In this paper, a model predictive control mpc algorithm for linear parameter varying lpv systems is proposed. At run time, use adaptive mpc controller block updating predictive model at each control interval together with linear parameter varying lpv system block supplying linear plant model with a scheduling strategy. Jun 02, 2017 in this paper, a new offline model predictive control strategy is presented for a kind of linear parameter varying system with polytopic uncertainty.
Robust shrinking ellipsoid model predictive control for. Model predictive control for linear parameter varying. A polyhedral offline model predictive control algorithm for linear parameter varying systems. Design, implementation and efficient execution of model predictive control is a very challenging problem that requires deep understanding of optimization methods and strong coding skills. Tubebased model predictive control for linear parameter. Adaptive model predictive control for constrained, linear time varying systems m. Robust shrinking ellipsoid model predictive control for linear. Adaptive model predictive control of a twowheeled robot. Abstractin this article, a synthesis approach for robust model predictive control using linear matrix inequalities is presented. Robust model predictive control of linear timevarying. Robust linear parameter varying model predictive control.
Use model arrays to create linear parameter varying models. A provoking analogy between mpc and classical control can be found in 15. This paper proposes a linear parameter varying lpv controller design approach for trajectory tracking of an automated guided vehicle agv based on a simple yet nonlinear kinematic model. An improved robust model predictive control for linear parameter varying inputoutput models h.
The subspace predictors are derived by qr decomposition of inputoutput and laguerre. A linear parameter varying model of the system is derived consisting of local linear models of the system at different values of the varying parameter. The adaptive mpc controller then uses the lpv system to update the internal predictive model at each control interval and achieves nonlinear control successfully. Pdf robust shrinking ellipsoid model predictive control. A parameter varying, model predictive envelope protection system is developed simplifying the controller structures required to keep the aircraft within a safe angleofattack and normal load factor envelope. This paper proposes a robust model predictive controller for linear parameter varying lpv systems subject to additive disturbances.
This example shows how to design a model predictive controller for a continuous stirredtank reactor cstr in simulink using mpc designer. In this paper, the lpv mpc problem is solved using a tubebased approach, requiring the online solution of a single linearor quadratic program. This paper considers highspeed control of constrained linear parameter varying systems using model predictive control. Even though the model captures nonlinear dynamics of the process, there will always be uncertainty in a mathematical process model. For more information on model arrays, see model arrays.
A novel feature is the fact that both model uncertainty and bounded additive disturbance are explicitly taken into account in the offline formulation of mpc. In this paper, a new offline model predictive control strategy is presented for a kind of linear parameter varying system with polytopic. This information is used to construct state tubes to which the future trajectories of the state are confined. May 24, 2015 simulink and matlab are used to implement model predictive control mpc of a nonlinear process. May 24, 2015 linear model predictive control is a common method to control processes that operate near steady state. Wind turbines power regulation using a lowcomplexity linear. Nonlinear model predictive control in simulink youtube. Dynamic control is also known as nonlinear model predictive control nmpc or simply as nonlinear control nlc. Therefore, this control method has been more widely employed in the automotive industry than mpc. Explicit model predictive control for linear parameter varying systems abstract. Datadriven predictive control for continuoustime linear. Antiwindup linear parameter varying control of structural systems with magnetorheological dampers. Offline robust constrained mpc for linear timevarying.
Model predictive control mpc predicts and optimizes time varying processes over a future time horizon. It has been in use in the process industries in chemical plants and oil refineries since the 1980s. Adaptive mpc control of nonlinear chemical reactor using. Output feedback model predictive control of linear parameter. According to the principle of model predictive control, it is known that model predictive control requires a prediction model with high precision. Anticipative model predictive control for linear parameter. We will use linear parameter varying lpv model of the nonlinear system. An ellipsoidal offline model predictive control strategy for linear parameter varying systems with applications in chemical processes. However, the great success of the method lead to the fact that one can use advanced software tools to achieve this goal quite seamlessly. Robust shrinking ellipsoid model predictive control for linear parameter varying system. Explicit model predictive control for systems with linear parameter varying state transition matrix thomas besselmann johan lo fberg manfred morari automatic control laboratory, eth zurich, zurich, switzer land, email. In this paper, the lpv mpc problem is solved using a tubebased approach, requiring the online solution of a single linear or quadratic program. The goal of cruise control of highspeed trains is to track the desired target speed quickly and accurately, so, model predictive control is very suitable for the highspeed train cruise controller.
The idea of a quasisteady flight condition is used to map the flight envelope limits onto the setpoint values of a single flight control law. Model predictive control, linear parameter varying, nonlinear systems, wind. In this paper we demonstrate how one can reformulate the mpc problem for lpv systems to a series of mplps by a closedloop minimax mpc algorithm based on dynamic programming. This paper introduces a tubebased model predictive control mpc for linear parametervarying lpv systems which exploits knowledge about bounds on the parameters rate of change to extrapolate its admissible values over the prediction horizon.
In matlab, an lpv model is represented in a statespace form using coefficients that are parameter dependent. Explicit model predictive control for linear timevariant. Vehicle pathtracking lineartimevarying model predictive. National priorities research program nprp, grantaward number.
A linear parametervarying lpv system is a linear statespace model whose dynamics vary as a function of certain timevarying parameters called scheduling parameters. Existing model predictive control schemes for control of constrained linear parameter varying systems typically require the solution of a semidefinite program at each sampling instance. As we know, linear parameter varying lpv model can fully describe the. Leaving the technical details aside until chapter 3, this chapter will explain the basic idea of mpc and summarize the content of the thesis. Explicit model predictive control for systems with linear parameter. It is developed by reformulating the continuoustime lpv system which utilizes laguerre filters to obtain the subspace prediction of output. The inclusion of components and system reliability in the mpc model using an linear parameter varying lpv modeling approach aims to maximize the availability of the system by estimating system reliability. This paper describes a new robust model predictive control mpc scheme to control the discretetime linear parametervarying inputoutput models subject to input and output constraints. The use of linear parameter varying lpv prediction models has been proven to be an effective solution to develop model predictive control mpc algorithms for linear and non linear systems. Explicit model predictive control for linear parameter varying systems conference paper pdf available in proceedings of the ieee conference on decision and control. Gainscheduled mpc control of nonlinear chemical reactor. Jan 14, 2019 vehicle pathtracking linear time varying model predictive control controller parameter selection considering central process unit computational load.
This control package accepts linear or nonlinear models. Trajectory tracking of agvs by linear parametervarying. Anticipative model predictive control for linear parameter varying. Recently, variants of explicit model predictive control were proposed for linear. Quasilinear parameter varying qlpv systems are often obtained as convex. The array of stateconsistent linear models that define an lpv model are represented by an array of statespace model objects.
Pdf an ellipsoidal offline model predictive control. Model predictive control for linear parameter varying systems using a new parameter dependent terminal weighting matrix. A new datadriven predictive control method based on subspace identification for continuoustime linear parameter varying lpv systems is presented in this paper. A linear parameter varying lpv system consisting of three linear plant models is constructed offline to describe the local plant dynamics across the operating. The models used in cenit are developed specifically for nonlinear model predictive control. To implement adaptive mpc, first design a traditional model predictive controller for the nominal operating conditions of your control system, and then update the plant model and nominal conditions used by the mpc controller at run time. Model predictive controller design based on the linear. Pdf computationally efficient model predictive control. Use this approach when all the plant models have the same. Controlling a nonlinear process with varying dynamics using. The first step is derived by using parameter dependent lyapunov function and the second step is derived by using the perturbation on control input strategy.
Explicit model predictive control for linear parameter. Uncertain timevarying parameters and bounded additive disturbances are explicitly taken into account in the controller design. Gligorovski 1 introduction this manuscript contains technical details of recent results developed by the authors. Gainscheduled missile autopilot design using linear.
See adaptive mpc control of nonlinear chemical reactor using linear parameter varying system for more details. Nlc with predictive models is a dynamic optimization approach that seeks to follow a trajectory or drive certain values to maximum or minimum levels. Jul 08, 2018 model predictive controller design based on the linear parameter varying model method for a class of turboshaft engines. First, by putting the advantages of the mpc approach into practice, the optimal output power regulation of the wind turbine is obtained using a control oriented linear parameter varying lpv model of the wind turbine. The adaptive mpc controller block updates the predictive model at each control interval, and the lpv system block supplies a linear plant model based on a scheduling strategy. In practical control systems, the plant states are not always measurable, so state estimation becomes essential before the state feedback control is applied.
Model predictive control mpc is an advanced method of process control that is used to control a process while satisfying a set of constraints. It covers both popular dynamic matrix control and generalized predictive control implementations, along with the more general statespace representation of model predictive control and other more specialized types, such as maxplus linear model predictive. Oct 06, 2009 a dynamic controller for controlling a non linear process, comprising. Pdf robust shrinking ellipsoid model predictive control for. The nonlinear system is an exothermic reactor with a potential for runaway reaction and a large.
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