Application Of Model Predictive Control Research Articles

Nonlinear sparse variational Bayesian learning based model predictive control with application to PEMFC temperature control

The accuracy of the underlying model predictions is crucial for the success of model predictive control (MPC) applications. If the model is unable to accurately analyze the dynamics of the controlled system, the performance and stability guarantees provided by MPC may not be achieved. Learning-based MPC can learn models from data, improving the applicability and reliability of MPC. This study develops a nonlinear sparse variational Bayesian learning based MPC (NSVB-MPC) for nonlinear systems, where the model is learned by the developed NSVB method. Variational inference is used by NSVB-MPC to assess the predictive accuracy and make the necessary corrections to quantify system uncertainty. The suggested approach ensures input-to-state stability (ISS) and the feasibility of recursive constraints in accordance with the concept of an invariant terminal region. Finally, a PEMFC temperature control model experiment confirms the effectiveness of the NSVB-MPC method.

Convergent wheeled robot navigation based on an interpolated potential function and gradient

The article presents a novel idea to construct a smooth navigation function for a wheeled robot based on grid-based search, that enables replanning in dynamic environments. Since the dynamic constraints of the robot are also considered, the navigation function is combined with the model predictive control (MPC) to guide the robot safely to the defined goal location. The main novelty of this work is the definition of this navigation function and its MPC application with guaranteed closed-loop convergence in finite time for a non-holonomic robot with speed and acceleration constraints. The navigation function consists of an interpolated potential function derived from the grid-based search and a term that guides the orientation of the robot on continuous gradients. The navigation function guarantees convergent trajectories to the desired goal, results in smooth motion between obstacles, has no local minima, and is computationally efficient. The proposed navigation is also suitable in dynamic environments, as confirmed by experiments with a Husky mobile robot.

Coupling model predictive control and rules-based control for real-time control of urban river systems

Model Predictive Control (MPC) has the potential to enhance flood control in urban river systems. However, the computational burden of online optimization hinders the application of MPC to large-scale areas. To address this, we propose a method incorporating both Rules-Based Control (RBC) and MPC based on surrogate models. MPC optimizes the operation of gates and pumping stations in the area of interest, while RBC is implemented in a specific region that does not participate in online optimization, thereby reducing calculation time. We have successfully validated this approach in coastal urban river systems in China, reducing the decision variables from 109 to 24 and narrowing the simulation area from 165 km2 to 15 km2. During the Typhoon Lupit rainfall test, the total computation time and the highest online optimization time were only 33.9 % and 38.1 % of the full MPC system, respectively. Additionally, the method demonstrated impressive results, including a significant 94.62 % reduction in flood volume and a remarkable 96.5 % decrease in flood duration. These findings demonstrate that our method effectively addresses the challenge of long computation times for online optimization in urban river systems and presents a novel approach for implementing urban flood mitigation strategies.

A low computation-cost locomotion control for underwater snake robot based on Monte Carlo model predictive control and curvature derivative control

ABSTRACT This work studies the application of a sample-based model Monte Carlo Model Predictive Control (MCMPC) to address discontinuous events, such as collisions. The inclusion of contact dynamics in the prediction steps of MCMPC renders it advantageous for the operation of underwater snake robots in restricted environments during rescue missions. The Curvature Derivative Control (CDC) method is employed for the purpose of controlling the joints, with the exception of the head joint. The snake robot body demonstrates adaptability to various environments with the assistance of the CDC. Results obtained from the simulation demonstrate that the snake robot is capable of autonomously navigating from its beginning position outside the region to a pipe as the entrance in order to get inside. The robot successfully traverses through various internal structures within the pipe and ultimately reaches the intended destination, guided by a predetermined cost function of MCMPC. By using the capabilities of CUDA GPU parallel computing, the computational time is substantially lowered.

Enhancing Electric Vehicle Charger Performance with Synchronous Boost and Model Predictive Control for Vehicle-to-Grid Integration

This paper investigates optimizing the power exchange between electric vehicles (EVs) and the grid, with a specific focus on the DC-DC converters utilized in vehicle-to-grid (V2G) systems. It specifically explores using model predictive control (MPC) in synchronous boost converters to enhance efficiency and performance. Through experiments and simulations, this paper shows that replacing diodes with SIC MOSFETs in boost converters significantly improves efficiency, particularly in synchronous mode, by minimizing the deadtime of SIC MOSFETs during switching. Additionally, this study evaluates MPC’s effectiveness in controlling boost converters, highlighting its advantages over traditional control methods. Real-world validations further validate the robustness and applicability of MPC in V2G systems. This study utilizes TMS320F28379D, one of Texas Instruments’ leading digital signal processors, enabling the implementation of MPC with a high PWM frequency of up to 200 MHz. This processor features dual 32-bit CPUs and a 16-bit ADC, allowing for high-resolution readings from sensors. Leveraging digital signal processing technologies and advanced electronic circuits, this study advances the development of high-performance boost converters, achieving power outputs of up to 48 watts and output voltages of 24 volts. Electronic circuits (PCB boards) have been devised, implemented, and evaluated to showcase their significance in advancing efficient V2G integration.

Predictive Control Model Based on the MPC Algorithm on Three Different Road Sections

Predictive control is an advanced control algorithm, which is widely used in industrial process control. Among them, model predictive control (MPC) is an important branch of predictive control. Its basic principle is to use the system model to predict future behavior and determine the current control action by optimizing the objective function. This paper discusses the application of MPC in the prediction and control of the speed of vehicles to optimize traffic flow. It is a valuable reference for alleviating traffic congestion and improving travel efficiency and smoothness and provides scientific basis and technical support for future highway traffic management.

Comparison of Linear and Nonlinear Model Predictive Control in Path Following of Underactuated Unmanned Surface Vehicles

Model predictive control (MPC), an extensively developed rolling optimization control method, is widely utilized in the industrial field. While some researchers have incorporated predictive control into underactuated unmanned surface vehicles (USVs), most of these approaches rely primarily on theoretical simulation research, emphasizing simulation outcomes. A noticeable gap exists regarding whether predictive control adequately aligns with the practical application conditions of underactuated USVs, particularly in addressing real-time challenges. This paper aims to fill this void by focusing on the application of MPC in the path following of USVs. Using the hydrodynamic model of USVs, we examine the details of both linear MPC (LMPC) and nonlinear MPC (NMPC). Several different paths are designed to compare and analyze the simulation results and time consumption. To address the real-time challenges of MPC, the calculation time under different solvers, CPUs, and programming languages is detailed through simulation. The results demonstrate that NMPC exhibits superior control accuracy and real-time control potential. Finally, we introduce an enhanced A* algorithm and use it to plan a global path. NMPC is then employed to follow that path, showing its effectiveness in tracking a common path. In contrast to some literature studies using the LMPC method to control underactuated USVs, this paper presents a different viewpoint based on a large number of simulation results, suggesting that LMPC is not fit for controlling underactuated USVs.

Flexible development and evaluation of machine‐learning‐supported optimal control and estimation methods via HILO‐MPC

AbstractModel‐based optimization approaches for monitoring and control, such as model predictive control and optimal state and parameter estimation, have been used successfully for decades in many engineering applications. Models describing the dynamics, constraints, and desired performance criteria are fundamental to model‐based approaches. Thanks to recent technological advancements in digitalization, machine‐learning methods such as deep learning, and computing power, there has been an increasing interest in using machine learning methods alongside model‐based approaches for control and estimation. The number of new methods and theoretical findings using machine learning for model‐based control and optimization is increasing rapidly. However, there are no easy‐to‐use, flexible, and freely available open‐source tools that support the development and straightforward solution to these problems. This article outlines the basic ideas and principles behind an easy‐to‐use Python toolbox that allows to solve machine‐learning‐supported optimization, model predictive control, and estimation problems quickly and efficiently. The toolbox leverages state‐of‐the‐art machine learning libraries to train components used to define the problem. Machine learning can be used for a broad spectrum of problems, ranging from model predictive control for stabilization, set point tracking, path following, and trajectory tracking to moving horizon estimation and Kalman filtering. For linear systems, it enables quick generation of code for embedded model predictive control applications. HILO‐MPC is flexible and adaptable, making it especially suitable for research and fundamental development tasks. Due to its simplicity and numerous already implemented examples, it is also a powerful teaching tool. The usability is underlined, presenting a series of application examples.

Enhanced Model Predictive Control for Induction Motor Drives in Marine Electric Power Propulsion System

Marine electric propulsion is an important topic in the research of modern ships and underwater vehicles. The propulsion motor drives based on model predictive control (MPC) are becoming increasingly popular in marine propulsion systems as an emerging technology. However, the multi-objective optimization in conventional MPC requires cumbersome weighting factor tuning. The relatively large computational cost is also detrimental to the industrial application of MPC. Aiming at reducing the computational complexity of multi-objective optimization without weighting factors, this paper proposes an enhanced ranking-based MPC method for induction motor drives in marine electric power propulsion. The presented control set pre-optimization aims to reduce the computational complexity of enumeration and ranking. Based on the sign of torque prediction deviation, the proposed method avoids enumerating all fundamental voltage vectors. Consequently, the number of candidate elements in the initial control set are reduced to four without excessively excluding feasible solutions. By converting predicted numerical errors into ranking results, the proposed MPC seeks the optimal solution among the candidates through improved ranking evaluation. Considering the situation of simultaneous optimal ranking, the normalization error judgment is developed to further optimize the optimal solution selection process. The simulation and experimental results confirm that the proposed MPC is simple and effective. Without the involvement of tuning the weighting factors, the proposed method achieves good performance.

Practical Applications of Model Predictive Control and Other Advanced Control Methods in the Built Environment: An Overview of the Special Issue

This paper summarizes the results of a Special Issue focusing on the practical applications of model predictive control and other advanced control methods in the built environment. This Special Issue contains eleven publications and deals with various topics such as the virtual sensing of indoor air pollutants and prediction models for indoor air temperature and building heating and cooling loads, as well as local and supervisory control strategies. The last three publications tackle the predictive maintenance of chilled water systems. Most of these publications are field demonstrations of advanced control solutions or promising methodologies to facilitate the adoption of such control strategies, and they deal with existing buildings. The Special Issue also contains two review papers that provide a comprehensive overview of practical challenges, opportunities, and solutions to improve building operations. This article concludes with a discussion of the perspectives of advanced controls in the built environment and the increasing importance of data-driven solutions.

Multivariable robust tube-based nonlinear model predictive control of mammalian cell cultures

In this paper, the application of a robust nonlinear model predictive control (NMPC) framework to mammalian cell cultures is proposed, dealing with possible large kinetic parameter uncertainties. Industrial constraints formulated in view of good manufacturing practice and quality-by-design approach are also considered, namely the assurance that all state trajectories are contained within a corridor defined by lower and upper safety bounds. The latter are assimilated to the well-known tube-based paradigm which is used to formulate the corresponding robust NMPC problem. Both classical and tube-based NMPC performances are assessed in numerical simulations where specific key-species are regulated while dealing with an uncertain plant model. The capability of the tube-based method to reduce the impact of the parameter variations on the state trajectories and the violation of the constraints is highlighted, suggesting the transfer of the method on a real pharmaceutical process.

Control strategy for biopharmaceutical production by model predictive control.

The biopharmaceutical industry is rapidly advancing, driven by the need for cutting-edge technologies to meet the growing demand for life-saving treatments. In this context, Model Predictive Control (MPC) has emerged as a promising solution to address the complexity of modern biopharmaceutical production processes. Its ability to optimize operations and ensure consistent product yields has made it an attractive option for manufacturers in this sector. Furthermore, MPC's alignment with the Process Analytical Technology (PAT) initiative provides an additional layer of assurance, facilitating real-time monitoring and enabling swift adjustments to maintain process integrity. This comprehensive review delves into the various applications of MPC, ranging from robust control to stochastic model predictive control, thereby equipping biotechnologists and process engineers with a powerful toolset. By harnessing the capabilities of MPC, as elucidated in this review, manufacturers can confidently navigate the intricate bioprocessing landscape and unlock this approach's full potential in their production processes.

Computationally Efficient Sphere Decoding Algorithm Based on Artificial Neural Networks for Long-Horizon FCS-MPC

Successful application of finite control set model predictive control (FCS-MPC) strategies with long prediction horizon depends on the careful design of the optimization algorithm. The conventional method involves transforming the problem to an equivalent box-constrained integer least-squares (BILS) formulation that can be solved with branch-and-bound techniques such as the sphere decoding algorithm (SDA). In this work, it is proposed to define an artificial neural network (ANN) to replace the SDA, avoiding its inherent computational variability. Similarly to practical applications of the SDA, the ANN finds an approximate solution of the underlying optimization problem. In contrast, the main benefit of the proposed approach is that it can be implemented in a low-cost microprocessing platform, greatly improving the performance in terms of resources in comparison with other advanced techniques proposed in the literature.

Practical Application of Model Predictive Zonal Temperature Estimation and Control for Vehicle Cabins

Practical Application of Model Predictive Zonal Temperature Estimation and Control for Vehicle Cabins

The Application of Adaptive Model Predictive Control for Fed-Batch Escherichia coli BL21 (DE3) Cultivation and Biosynthesis of Recombinant Proteins

The Application of Adaptive Model Predictive Control for Fed-Batch Escherichia coli BL21 (DE3) Cultivation and Biosynthesis of Recombinant Proteins

Thermal modeling for control applications of 60,000 homes in North America using smart thermostat data

As smart thermostats become increasingly available in residential buildings, there is an opportunity to use measured building data to calibrate models for community and district applications, instead of relying on high-fidelity simulations. This study used smart thermostat data from 60,000 houses in North America to create single-zone models. The model structure was defined with an automated forward selection procedure. 61% of the final models were classified as good fits and the structure of 80% of them was of 5th-order (5 thermal capacitances). An investigation of the 24-hour prediction error of the models showed that the ones classified as good fits are accurate enough for day-ahead predictions and Model Predictive Control (MPC) applications. An analysis of the model parameters suggested no strong correlation between them and the available metadata. The time constants of the houses were estimated, providing valuable information about the houses thermal inertia. Building models that can accurately capture and leverage building thermal inertia are ideal candidates for MPC and energy flexibility applications.

Optimal Control of District Cooling Energy Plant With Reinforcement Learning and MPC

Abstract We consider the problem of optimal control of district cooling energy plants (DCEPs) consisting of multiple chillers, a cooling tower, and a thermal energy storage (TES), in the presence of time-varying electricity price. A straightforward application of model predictive control (MPC) requires solving a challenging mixed-integer nonlinear program (MINLP) because of the on/off of chillers and the complexity of the DCEP model. Reinforcement learning (RL) is an attractive alternative since its real-time control computation is much simpler. But designing an RL controller is challenging due to myriad design choices and computationally intensive training. In this paper, we propose an RL controller and an MPC controller for minimizing the electricity cost of a DCEP and compare them via simulations. The two controllers are designed to be comparable in terms of objective and information requirements. The RL controller uses a novel Q-learning algorithm that is based on least-squares policy iteration. We describe the design choices for the RL controller, including the choice of state space and basis functions, that are found to be effective. The proposed MPC controller does not need a mixed integer solver for implementation, but only a nonlinear program (NLP) solver. A rule-based baseline controller is also proposed to aid in comparison. Simulation results show that the proposed RL and MPC controllers achieve similar savings over the baseline controller, about 17%.

Cross-Frame Resource Allocation With Context-Aware QoE Estimation for 360° Video Streaming in Wireless Virtual Reality

Wireless virtual reality (VR), aiming to provide an untethered immersive experience through 360° videos, could be facilitated by viewport-guided streaming with the help of viewport prediction. Although many recent viewport predictors can output a series of predictions over upcoming frames, most existing work on video streaming does not fully utilize the capability of these predictors. In this paper, we investigate the problem of 360° video streaming by incorporating the complete series of viewport predictions for maximizing the quality of experience (QoE) through cross-frame resource allocation. To address the problem of viewport prediction errors that could result in erroneous estimation of QoE contribution of tiles in upcoming frames, we develop a novel approach based on contextual multi-armed bandit (CMAB) to “learn” <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">online</i> the viewing behavior of the user and the capability of the predictor such that resource can be preferentially allocated to tiles with significant QoE contribution. Further, to address the problem of transmission failures during wireless streaming, we formulate a constrained Markov decision process (CMDP) and apply model predictive control (MPC) to account for resource competition among reactive and proactive transmissions as well as retransmissions of tiles. The performance of the proposed streaming system is evaluated using a real-world VR dataset, state-of-the-art viewport predictors, and realistic mmWave channel models. An improvement of 10.2% in QoE and a reduction of 18.7% in resource waste are achieved across various videos, users, and predictors. Simulation results substantiate that the context-aware QoE learned by the proposed CMAB effectively addresses prediction errors for tiles with different temporal and spatial contexts, and the proposed CMDP can achieve the desired performance even under tight bandwidth constraint and severe channel condition.

Parameter identification and model prediction path following control of underactuated AUV: Methodology and experimental verification

This paper explores the integrated optimal control scheme from the identification of underactuated autonomous underwater vehicle (AUV) system dynamics model parameters to the application of Model Predictive Control (MPC) technology in underactuated AUV motion control, and presents the simulation and field test results. First, the AUV kinematics and dynamics models are introduced to represent the horizontal plane motion characteristics. Based on Computational Fluid Dynamics (CFD) numerical simulation and overset mesh technology, AUV plane motion is simulated to determine the unknown hydrodynamic coefficients in the model, and the accuracy of the mathematical model is validated by comparing the maneuverability simulation and field test results. After that, an adaptive line-of-sight (ALOS) guiding algorithm with exponentially variable forward distance is utilized in the guidance layer to reconcile the rapidity and stability of tracking. The path following problem is formulated as an MPC optimization problem that takes into account multiple realistic constraints and then converted into a standard convex quadratic programming structure, permitting for online real-time optimization. Simulation and field test results indicate that the control algorithm proposed in this paper provides a more effective control strategy than the traditional LOS+PID controller in tracking effect and robustness.

Study on key factors affecting the high-order building model order reduction for model predictive control application

Study on key factors affecting the high-order building model order reduction for model predictive control application