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Model predictive control with prioritised actuators

Marco Gallieri, Jan M. Maciejowski
2015 2015 European Control Conference (ECC)  
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

R.E. Colyer, J.T. Economou
1999 International Journal of Approximate Reasoning  
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

A. V. Birn-Jeffery, C. M. Hubicki, Y. Blum, D. Renjewski, J. W. Hurst, M. A. Daley
2014 Journal of Experimental Biology  
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

Andrea Sinigaglia, Kristoffer Tagesson, Paolo Falcone, Bengt Jacobson
2016 2016 IEEE Intelligent Vehicles Symposium (IV)  
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

Einar Ueland, Thomas Sauder, Roger Skjetne
2021 Journal of Marine Science and Engineering  
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

Emil Krabbe Nielsen, Akio Gofuku, Xinxin Zhang, Ole Ravn, Morten Lind
2020 Computers and Chemical Engineering  
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

Rodrigo Toro, Carlos Ocampo-Martínez, Filip Logist, Jan Van Impe, Vicenç Puig
2011 IFAC Proceedings Volumes  
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

Kristoffer Tagesson, Leo Laine, Bengt Jacobson
2015 Traffic Injury Prevention  
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

M. Sofian Basrah, Efstathios Siampis, Efstathios Velenis, Dongpu Cao, Stefano Longo
2017 Vehicle System Dynamics  
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

Ye Wang, Vicenç Puig, Gabriela Cembrano
2017 Journal of Process Control  
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

J.A Clarke, S Conner, G Fujii, V Geros, G Jóhannesson, C.M Johnstone, S Karatasou, J Kim, M Santamouris, P.A Strachan
2004 Energy and Buildings  
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

J. Richardsson, K. Danielsson, M. Fabian
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
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

V. Puig, C. Ocampo-Martinez, J. Romera, J. Quevedo, Rudy Negenborn, P. Rodriguez, S. de Campos
2012 Proceedings of 2012 9th IEEE International Conference on Networking, Sensing and Control  
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

Einar Uelanda, Thomas Sauderb, Roger Skjetnec
2021 IEEE Access  
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]

Ibrahim Rizqallah Alzahrani, Naeem Ramzan, Stamos Katsigiannis, Abbes Amira
2018 Advances in Intelligent Systems and Computing  
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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