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Model predictive control with prioritised actuators
2015
2015 European Control Conference (ECC)
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This paper deals with the control of systems for which there is a clear distinction between preferred and auxiliary actuators, the latter to be used only when the control error is large. ...
In particular, the approach uses the spoilers only when the control error is larger than a desired threshold. ...
If the prediction model f is LTI, then this choice of F gives again a strongly convex QP, with K N (x) unique, continuous and PWA. ...
doi:10.1109/ecc.2015.7330598
dblp:conf/eucc/GallieriM15
fatcat:737cylztxna25ig2dykfqixniu
Soft modelling and fuzzy logic control of wheeled skid-steer electric vehicles with steering prioritisation
1999
International Journal of Approximate Reasoning
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The overall contour skid-steer model (OCSM) is then developed, followed by the design of the fuzzy logic (FL) controllers for SP. ...
After a review of some of the previous techniques used to control land vehicles, the concept of'steering prioritisation' (SP) for skid-steer vehicles, which is the main focus of the work, is introduced ...
The results show the same vehicle model under FLC1 and FLC2 control and these are then compared, for the same model, with the same inputs but with FLC3 added. ...
doi:10.1016/s0888-613x(99)00019-5
fatcat:jvtof5tjandl3cc7gumsehwqua
Don't break a leg: running birds from quail to ostrich prioritise leg safety and economy on uneven terrain
2014
Journal of Experimental Biology
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We also test the hypothesis that control priorities shift between body stability and leg safety with increasing body size, reflecting use of active control to overcome size-related challenges. ...
All species used similar stance leg actuation patterns, involving asymmetric force-length trajectories and posture-dependent actuation to add or remove energy depending on landing conditions. ...
Channon for help with experiments.
Competing interests The authors declare no competing financial interests. ...
doi:10.1242/jeb.102640
pmid:25355848
pmcid:PMC4213177
fatcat:yg54vahbhbci5nwt4w4ddb623q
Coordination of motion actuators in heavy vehicles using Model Predictive Control Allocation
2016
2016 IEEE Intelligent Vehicles Symposium (IV)
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The paper presents a Model Predictive Control Allocation (MPCA) method in order to coordinate the motion actuators of a heavy vehicle. ...
The presented method merges the strong points of two different control theories: Model Predictive Control (MPC) and Control Allocation (CA); MPC explicitly considers the motion actuators dynamics before ...
Model Predictive Control (MPC) Model predictive control aims to find the optimal control input for a system by predicting the possible future states of the system. ...
doi:10.1109/ivs.2016.7535447
dblp:conf/ivs/SinigagliaTFJ16
fatcat:ygayqcyybnc6hbhqampu42qpd4
Optimal Actuator Placement for Real-Time Hybrid Model Testing Using Cable-Driven Parallel Robots
2021
Journal of Marine Science and Engineering
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In real-time hybrid model testing, complex ocean structures are emulated by fusing numerical modelling with traditional hydrodynamic model testing. ...
Overall, the paper represents a guideline for robust and beneficial actuator placement for real-time hybrid model testing using cable-driven parallel robots for load-actuation. ...
Introduction Real-time hybrid model testing (ReaTHM testing) is a cyber-physical empirical method for emulating complex ocean structures that combines numerical models with traditional hydrodynamic model ...
doi:10.3390/jmse9020191
fatcat:mnsbn6an6vduxjuj47kmq5q56m
Causality validation of multilevel flow modelling
2020
Computers and Chemical Engineering
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A series of controlled experiments are conducted as simulations in K-Spice, a dynamic process simulator, by manipulating actuators to analyse the response of process variables. ...
The causal influence of an actuator on a process variable is defined as a probability of a qualitative and discrete causal state. ...
As model complexity increases, Changing a relation for one actuator may influence the result of other actuators. The method, therefore, becomes a compromise between what behaviour is prioritised. ...
doi:10.1016/j.compchemeng.2020.106944
fatcat:aohnofnhhzg7xp32dlcl66tfce
Tuning of Predictive Controllers for Drinking Water Networked Systems
2011
IFAC Proceedings Volumes
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A control-oriented DWN model is briefly reviewed, together with its management objectives. ...
A comparison of methods to explore the Pareto front of the multi-objective optimisation (MOO) problem behind the predictive controller is presented with an effective normalisation method for the model ...
Both actuators have physical constraints, which are expressed as u min In terms of economic costs, it is more expensive to control water flows with pumping stations than with valves. x min i ≤ x i (k) ...
doi:10.3182/20110828-6-it-1002.00415
fatcat:wpct6hjs5nfczoef3elfk6rmzy
Combining Coordination of Motion Actuators with Driver Steering Interaction
2015
Traffic Injury Prevention
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A new method is suggested for coordination of vehicle motion actuators; where driver feedback and capabilities become natural elements in the prioritisation. ...
Examples of other suitable applications in scope of the method would be electronic stability control, lateral stability control at launch and optimal cornering arbitration. ...
The methods are feasible in real time, see (Tagesson et al., 2009) , and can be extended to a model predictive control formulation in order to include actuator dynamics, see (Luo et al., 2007) . ...
doi:10.1080/15389588.2015.1017044
pmid:26027970
fatcat:4hesuhs4bnahtb3ro2ebio2lf4
Wheel slip control with torque blending using linear and nonlinear model predictive control
2017
Vehicle System Dynamics
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In particular we develop linear and nonlinear model predictive control strategies for optimal performance and enforcement of critical control and state constraints. ...
In addition, electric actuators are typically significantly faster responding and would deliver better control of wheel slip than friction brakes. ...
A linear Model Predictive Control (MPC) method is proposed for the torque allocation to work along with a linear slip controller in [21] . ...
doi:10.1080/00423114.2017.1318212
fatcat:ohgs6lan4bhv5lzyhazwnao3re
Non-linear economic model predictive control of water distribution networks
2017
Journal of Process Control
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This paper addresses a non-linear economic model predictive control (EMPC) strategy for water distribution networks (WDNs). ...
On the other hand, as a result of the ON/OFF operation of parallel pumps in pumping stations, a two-layer control scheme has been used: a non-linear EMPC strategy with hourly control interval is chosen ...
Subsequently, the non-linear DAE model of a WDN is used as the prediction model in the EMPC controller design. ...
doi:10.1016/j.jprocont.2017.05.004
fatcat:7i6igw4hm5fubk4lnhtblubzr4
The role of simulation in support of Internet-based energy services
2004
Energy and Buildings
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SIMULATION-ASSISTED BUILDING ENERGY MANAGEMENT There has been considerable research into model predictive control, using stochastic models, fuzzy logic control, neural net-based control and the development ...
Within this framework, the controller serves to prioritises supply-load matching as follows. ...
doi:10.1016/j.enbuild.2004.01.006
fatcat:3guy3jmmojfwvacluxt7fvivee
Design of control programs for efficient handling of errors in flexible manufacturing cells
2004
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
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This paper proposes a method where control programs with integrated functions for error detection, resynchronization, and support for manual control are generated out of information that already exists ...
A third problem connected to errors in manufacturing cells is lack of support for manual control. In order to resolve an error situation manual control of the cell is often required. ...
The Manual Control object orders the Machine Model to adapt to the new state. The Machine Model updates its actuators and separate sensor. 6. Repeat from step 2. 7. ...
doi:10.1109/robot.2004.1307400
dblp:conf/icra/RichardssonDF04
fatcat:iahaiosprfgvjoggnhzh7vtg7a
Model predictive control of combined irrigation and water supply systems: Application to the Guadiana river
2012
Proceedings of 2012 9th IEEE International Conference on Networking, Sensing and Control
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In this paper, a methodology for the optimal management of a combined irrigation and water supply system based on model predictive control (MPC) is proposed. ...
volumes in dams and flow control stability in actuators (valves, gates and pumps). ...
Model predictive control (MPC) provides suitable techniques to compute optimal control strategies ahead in time for all the control elements of a water system [5] . ...
doi:10.1109/icnsc.2012.6204896
dblp:conf/icnsc/PuigORQNRC12
fatcat:4jrrgwm2tbeyzev3puz242wfgu
Force Tracking using Actuated Winches with Position-controlled Motors for use in Hydrodynamical Model Testing
2021
IEEE Access
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In this paper, we consider the problem of accurate force control using actuated winches, intended for use in real-time hybrid hydrodynamic model testing. ...
In contrast, we propose using actuated winches with position-controlled servomotors that connect to the cabled drum via a clockspring. ...
We control the actuator using a discrete control system with cycle times T d =5 ms. ...
doi:10.1109/access.2021.3083539
fatcat:az5nn5mpfnd2bi3zgjjkni5ykm
Use of Machine Learning for Rate Adaptation in MPEG-DASH for Quality of Experience Improvement
[chapter]
2018
Advances in Intelligent Systems and Computing
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The sensor works like an estimation resource module, the controller is responsible for the adaptation, and the actuator monitors the controller's decisions. Xiong et al. ...
Linear and non-linear classifiers were then used in order to create a machine learning model that can predict the quality class. ...
doi:10.1007/978-3-319-78753-4_1
fatcat:2qwpuvx5qfepphth7zzg6pabz4
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