Model Predictive Control Strategy Research Articles

A review on model predictive control strategies for AC motor drives

AbstractIn the past decade, model predictive control (MPC) has been widely used in AC motor drives. Although a series of improved MPC strategies have been proposed, researchers are still seeking more effective solutions for different application backgrounds and application requirements to achieve the goals such as algorithm simplification, weighting factor design, parameter robustness enhancement, current/torque ripple suppression, and so on. In this paper, aiming at the above problems, the MPC strategy and its optimisation technology for AC motor drive system are comprehensively reviewed. Firstly, this paper introduces the classical MPC technology with the permanent magnet synchronous motor drive system fed by two‐level voltage source inverter as the control object. Secondly, this paper introduces and discusses the existing MPC optimisation methods from the aspects of current/torque ripple suppression, algorithm simplification, weight factor design and parameter robustness enhancement. Finally, based on the current industrial development requirements for AC motor drive systems and the research status of MPC optimisation methods in the existing literature, the current challenges and future trends of MPC technology are discussed.

A learning‐based hierarchical energy management control strategy for hybrid electric vehicles

AbstractIn this work, a novel energy management control framework is developed for hybrid electric vehicles (HEVs) driving in car‐following scenarios. In order to enhance the energy efficiency while maintaining the driving safety, a hierarchical control approach consisting of an upper level speed tracking control scheme and a lower level energy management control strategy is proposed. For the upper level tracking control system, an iterative learning model predictive control (ILMPC) scheme is developed to guarantee the tracking performance and the driving safety simultaneously. Additionally, a model predictive control (MPC) algorithm is adopted at the lower level to optimize the torque distribution in real‐time based on the driving cycles generated by the upper level control system. With the proposed hierarchical control framework, HEVs are able to improve the energy efficiency significantly by taking the advantages of the operational repeatability. The convergence of the proposed control strategy is analyzed rigorously, and its effectiveness is illustrated through numerical simulations.

Data-Driven Model Predictive Control for Redundant Manipulators With Unknown Model.

The tracking control of redundant manipulators plays a crucial role in robotics research and generally requires accurate knowledge of models of redundant manipulators. When the model information of a redundant manipulator is unknown, the trajectory-tracking control with model-based methods may fail to complete a given task. To this end, this article proposes a data-driven neural dynamics-based model predictive control (NDMPC) algorithm, which consists of a model predictive control (MPC) scheme, a neural dynamics (ND) solver, and a discrete-time Jacobian matrix (DTJM) updating law. With the help of the DTJM updating law, the future output of the model-unknown redundant manipulator is predicted, and the MPC scheme for trajectory tracking is constructed. The ND solver is designed to solve the MPC scheme to generate control input driving the redundant manipulator. The convergence of the proposed data-driven NDMPC algorithm is proven via theoretical analyses, and its feasibility and superiority are demonstrated via simulations and experiments on a redundant manipulator. Under the drive of the proposed algorithm, the redundant manipulator successfully carries out the trajectory-tracking task without the need for its kinematics model.

Application of model predictive control scheme for piezoelectric ceramic micro-displacement

Abstract Currently, in the domain of micro-control technology, many operations need to meet the standard of nanometer-level positioning. As a high-precision micro-displacement element, piezoelectric ceramics are widely used in the field of micro-control due to their characteristics such as no need for transmission devices, high resolution, large output force, small size, and fast response speed. However, the inherent hysteresis nonlinearity of piezoelectric ceramics can lead to decreased displacement accuracy, oscillation, and even system instability. Therefore, eliminating the influence of nonlinear characteristics and improving displacement accuracy possess significant practical importance. In this paper, a model predictive control scheme is designed, which achieves faster response speed and higher accuracy compared to traditional control methods such as Proportional Integral Derivative control. Relevant simulations and tests have been conducted. In this scheme, hysteresis nonlinearity is first modeled and then compensated through feedforward, thereby simplifying the displacement control of piezoelectric ceramics into a more manageable linear problem. Subsequently, a linear model predictive control method is adopted to control the entire system. Both simulation and experimental results have verified the effectiveness of this control method.

An Orbital-attitude Coupled Control Framework for a Full-scale Flexible Electric Solar Wind Sail Spacecraft in Orbital Transformation Missions

In this work, a novel orbital-attitude coupled control framework is developed for the electric solar wind sail (E-sail) spacecraft, aiming to handle the orbital transformation and attitude maneuver simultaneously. In the framework, the desired attitude parameters and the slow-varying voltage component are provided by the orbital control strategy, while the current attitude parameters and the fast-varying voltage component are manipulated by the attitude control strategy to approach their desired values. The orbital-attitude coupled characteristics of the E-sail spacecraft, including the flexibility-induced coupling effect, are fully described by the referenced nodal coordinate formulation. Considering the input saturation conditions, the governing equation for the orbital control strategy is then derived, in which the in-plane and out-of-plane displacement and velocity errors are prescribed as the state variables to be eliminated. An integral sliding mode control (ISMC) scheme is proposed to improve the robustness against the unmeasurable disturbance term. A model predictive control (MPC) scheme is introduced to enhance the convergence efficiency, where a quadratic optimization is performed to plan the desired attitude parameters and voltage components within the prediction horizon. To evaluate the control performance in the orbital transformation and attitude maneuver missions on the displaced non-Keplerian orbit, a series of scenarios with complex initial conditions are simulated under different control schemes, including the ISMC-MPC compound scheme. The results show that the control strategy designed under the rigid-body assumptions may not be feasible for the flexible E-sail spacecraft, while the investigated control strategy realizes the accurate and efficient convergence of the orbital and attitude variables on both the rigid and flexible E-sail spacecraft with the tether deformation stabilized.

MPC Optimization Algorithm and Strategy for HVAC System under Smart City Construction

As a giant in energy consumption, buildings urgently need to optimize control strategies for the main energy consuming equipment inside buildings. It is of great significance to design advanced control algorithms to improve the efficiency of the main energy consuming equipment in buildings, namely air conditioning, in the current energy shortage. The model predictive control algorithms and strategies were used in this study to control the HVAC system to improve the energy utilization of the city. Then linear matrix inequality with robust model predictive feedback controller was used to optimize and get the model predictive control optimization algorithm. The research results showed that, under the influence of different factors, the three regions controlled by the model predictive control optimization algorithm showed a little overshooting in the initial state. But it was quickly corrected after adjustment. Meanwhile, the average tracking error of temperature and humidity in each region was 0.139◦ C and 0.13g/kg dry air, respectively. The average predicted mean vote was 0.32. In actual office buildings, the proposed algorithm controlled the temperature within the reference value range of 0.1◦ C throughout the entire process. The total electricity consumption and electricity price costs were reduced by 12.11% and 22.54%, respectively. In summary, the proposed method has good performance for HVAC system application, which can effectively realize energy saving and emission reduction and improve human comfort. This method makes important contributions to promote the construction of smart cities and the development of green buildings.

Current disturbance compensation of continuous model predictive control scheme for PMSMs

During the operation of a permanent magnet synchronous motor, limitations imposed by digital chips inevitably result in certain delays. Additionally, external environmental factors introduce variations in motor parameters. This study aims to comprehensively analyze these issues. Firstly, the control delay and disturbances caused by motor parameter changes are transformed into current disturbances using a uniform approach. Secondly, various sliding mode model predictive controllers are designed to effectively suppress the current disturbances arising from aforementioned reasons. Moreover, considering controller implementation aspects, this paper thoroughly discusses the influence of core controller parameters on current disturbances and their adaptability towards different parameter mismatches. Furthermore, extensive examination is conducted on global stability conditions for controller realization. Finally, experimental results validate that the proposed methods successfully optimize current disturbances originating from aforementioned causes.

Predictive control technique for solar photovoltaic power forecasting

An accurate estimation of photovoltaic (PV) power production is crucial for organising and regulating solar PV power plants. The suitable prediction is often affected by the variable nature of solar resources, system location and some internal/external disturbances, such as system effectiveness, climatic factors, etc. This paper develops a novel strategy for applying a predictive control technique to PV power forecasting applications in a smart grid environment. The strategy develops the model predictive control (MPC) under demand response (DR) and some data-driven methods. It has been found that it is challenging to model an MPC for solar power forecasting regardless of its robustness and ability to handle constraints and disturbance. Thus, an optimal quadratic performance index-based MPC scheme is formulated to model a forecasting method for a PV power prediction. This strategy is then compared with some machine learning approaches. The developed strategies solve the problem of accurately estimating the direct current (DC) power yielded from the PV plant in a real-world implementation. The study also considers external disturbances to evaluate the significance of the developed methods for a suitable forecast. Therefore, this study optimally demonstrates that an accurate solar PV DC power prediction can relatively be estimated with an appropriate strategy, such as MPC and MLs, considering the system disturbances. This study also offers promising results for intelligent and real-time energy resource estimation that assist in developing the solar power sector.

Forecasting Optimal Power Point of Photovoltaic System Using Reference Current Based Model Predictive Control Strategy Under Varying Climate Conditions

Forecasting Optimal Power Point of Photovoltaic System Using Reference Current Based Model Predictive Control Strategy Under Varying Climate Conditions

Stochastic LPV MPC-based path following control for bevel-tip flexible needle with probabilistic constraints

This paper addresses the path-tracking problem for flexible needle control systems using a stochastic linear parameter varying (LPV) and model predictive control (MPC) strategy. Flexible needles operating in dynamic environments with non-uniform tissue density often deviate from ideal assumptions, resulting in non-standard models. The bicycle kinematics model for flexible needle motion control is transformed into an LPV model, improving accuracy and enabling more efficient control. The proposed stochastic LPV MPC approach aims to mitigate uncertainties arising from modelling errors and dynamic environmental factors, ensuring accurate trajectory tracking for the flexible needle. The sample and removal method is utilized to reformulate the probabilistic-constrained optimization problem for implementation. The contributions of this work lie in the application of stochastic LPV MPC to address the trajectory tracking problem in the presence of uncertainties. The simulation results illustrate the superior robustness of the stochastic LPV MPC approach, as evidenced by significantly smaller tracking errors across various scenarios.

Robust Model Predictive Control for an Ion Beam Shepherd in a large-debris removal mission

The increasing accumulation of space debris poses significant risks to spacecraft, making the development of effective debris mitigation technologies necessary. This paper explores the Ion Beam Shepherd (IBS) method as a potential contactless solution for deorbiting large debris objects. The IBS system concept involves a spacecraft equipped with an ion thruster to direct a controlled ion beam at the debris, generating a small force that gradually lowers its orbit. A proposed configuration of the chaser’s actuator system integrates radial and out-of-plane cold-gas thrusters along with in-track ion thrusters to enhance control and safety while maintaining low mission costs. A robust Model Predictive Control (MPC) strategy is implemented, using the theory of MPC for Tracking to ensure accurate positioning and effective deorbiting. This theoretical approach addresses uncertainties and perturbations to robustly guarantee safe distances between the chaser and the debris. Additionally, a new ray-marching-based algorithm is introduced to estimate the force and torque exerted by the ion beam on the target, considered as a 6 degrees of freedom object, improving simulation accuracy and control performance assessment. A comprehensive simulation of the deorbit of a large debris object is performed, demonstrating the potential of the IBS technology for future large-debris removal missions. This research advances the conceptual framework and control techniques for the IBS technology, advancing towards its future implementation in space debris mitigation.

Bi-Layer Model Predictive Control strategy for techno-economic operation of grid-connected microgrids

Effective management of renewable energy sources (RESs) alongside energy storage systems is crucial for maintaining stability and enhancing the economic performance of a grid-connected microgrid (MG). To address shortcomings in existing energy management strategies, which often overlook essential elements such as voltage support, battery degradation management, and uncertainties in load demand and solar generation, this study proposes a Bi-Layer Strategy for optimizing the operation of Battery Energy Storage Systems (BESS) within grid-connected MGs. The proposed approach maximizes economic returns, minimizes battery degradation, and provides reactive power support to maintain voltage stability. The method consists of the Energy Management Layer (EML) and the Control Layer (CL). The EML adopts a Model Predictive Control (MPC) framework to optimize the BESS power output over a 24-h rolling horizon based on forecasted solar generation, load demand, and electricity prices. The CL translates the optimized hourly setpoints from the EML into real-time operational commands, ensuring that the BESS adapts to actual grid conditions and maintains stable operation. Simulations conducted on a test MG, comprising 150 households, 500 kW rooftop solar PV, and a 300 kWh Li-Ion BESS demonstrate the strategy’s effectiveness under both fixed-rate and Time-of-Use (ToU) pricing schemes. The strategy reduces costs, mitigates battery degradation, and enhances voltage stability by optimizing BESS operations. Compared to a similar method in the literature, it reduces battery degradation by 24%, leading to net savings of $10,000 AUD, while the compared strategy resulted in a $5000 AUD loss. Real-time validation using the OPAL-RT platform further confirms the strategy’s effectiveness in optimizing BESS operations under real-world conditions.

A new model predictive current control strategy for PMSM based on extended control set and dynamic cost function

A new model predictive current control strategy for PMSM based on extended control set and dynamic cost function

Quantifying the potential of load flexibility for building HVAC system using model predictive control strategy

Building as a Battery (BaB) is a concept aimed at utilizing building energy systems for load shifting purposes. However, there is a lack of study to accurately quantify building load flexibility and analyze how it is impacted by various factors. This study addresses this gap by first quantifying building load flexibility using battery parameters, specifically charging power, energy storage capacity, and round-trip efficiency. Subsequently, an analysis is conducted to examine the impacts of internal and external factors on building load flexibility, Specifically, we studied how ToU utility structure, load shifting duration, comfort range, ambient weather conditions, and building thermal properties influence charging power, energy storage capacity, and round-trip efficiency. Our simulation results revealed that an increase in the peak-to-valley ratio, load shifting duration, building thermal capacity, and cooling demand leads to higher charging energy and energy storage capacity, while an increase in building thermal resistance and widening of the comfort range result in their decrease. Regarding the round-trip efficiency, we found most parameters, except for building thermal capability, have a positive relation with the round-trip efficiency. Furthermore, sensitivity analysis showed that ToU utility structure and ambient weather conditions have the largest impacts on charging power, energy storage capacity, and round-trip efficiency. Additionally, our study indicates that leveraging buildings as virtual batteries for peak demand reduction is a feasible and cost-effective method compared with other energy storage techniques such as electric batteries. Overall, our findings offer valuable insights for parameterizing building load flexibility using battery parameters, analyzing factors that impact building load flexibility and informing grid operator to design property utility structures to meet their load shifting goals.

Predictive Voltage Control in Multi-Modular Matrix Converters under Load Variation and Fault Scenario

This paper presents a model predictive control (MPC) strategy to regulate output voltages in a multi-modular matrix converter topology for isolated loads. The converter system harnesses power from a six-phase permanent magnet synchronous generator (PMSG) to deliver sinusoidal voltages to a three-phase load, with LC filters positioned at the output of each MC module within the multi-modular scheme. The proposed MPC approach ensures that the output voltages remain within acceptable ranges of magnitude, phase, and frequency, even under load variations and system faults. This control strategy is particularly suitable for uninterruptible power supply systems, microgrids or other applications where voltage regulation is critical. Experimental studies validate the effectiveness of the control strategy under various load conditions, reference voltage changes, and simulated system fault scenarios. The results highlight the robustness and reliability of the proposed voltage control using the multi-modular matrix converter.

Nonlinear scenario‐based model predictive control for quadrotors with bidirectional thrust

AbstractThe control of quadrotor vehicles under state and parameter uncertainty is a well studied problem that is vitally important to the deployment of these systems under real world conditions. In this article, we propose a linearization‐based extension to nonlinear systems of the existing scenario model predictive control (MPC) framework, which quantifies the impact of uncertainty on the vehicle dynamics through repeated sampling of the uncertainty space. Given the computational costs of such an approach, we also propose two simplifications of the scenario MPC algorithm that are significantly more tractable. In order to evaluate the performance of the algorithms, the specific problem of the control of a bidirectionally actuated quadrotor vehicle is considered. Simulations are carried out for each scenario MPC scheme as well as for a reference deterministic MPC scheme. When a sufficiently large sample count is considered, each of the scenario MPC algorithms achieves safer performance than the deterministic formulation without sacrificing any optimality. Additionally, the approximate solution techniques conclusively outperform the original nonlinear scenario MPC formulation for the same computational cost.

TVIE-based fault-tolerant model predictive control for trajectory tracking of mobile robot

This paper investigates the trajectory tracking control issue for a linear parameter-varying (LPV) system of a wheeled mobile robot (WMR) with actuator fault and constraints, where a time-varying intermediate estimator (TVIE)-based fault-tolerant model predictive control (MPC) method is proposed. To obtain the real system with actuator fault, based on the existing traditional IE, an optimized objective function is designed to update its observer gain online, which results in a TVIE. A new estimation-based predictive model in MPC is designed by introducing the estimations of error state and fault from the TVIE. Moreover, compared with the existing IE or extended state observer (ESO), the estimation performance of TVIE is better. Then the MPC optimization strategy is used to design fault-tolerant controllers. To guarantee stability and recursive feasibility, the bimodal MPC strategy is used, where a terminal penalty and a terminal constraint are included. Finally, the effectiveness and superiority of the proposed approach is illustrated in experiment.

Set‐Membership Filtering Based Model Predictive Control for Trajectory Tracking of Automated Guided Vehicles

ABSTRACTThis article considers the trajectory tracking problem of automated guided vehicles with unknown‐but‐bounded noises and proposes a set‐membership filtering (SMF) based model predictive control strategy. A 2‐DOF vehicle model is first established with considering the unknown‐but‐bounded process and measurement noises. Then, a trajectory tracking control scheme is proposed which consists of two parts, that is, a set‐membership observer and a model predictive controller. The proposed set‐membership observer is able to deal with the unknown‐but‐bounded noises and obtain the state estimation ellipsoid for the considered automated guided vehicle. Further, the designed model predictive controller utilizes the estimated ellipsoid to compute the control sequence. Finally, simulation results demonstrate the effectiveness and superiority of the proposed method.

A novel learning-based robust model predictive control strategy and case study for application in optimal control of FCEVs

With the gradual implementation of carbon-neutral policies, fuel cell electric vehicles (FCEVs) have gained widespread recognition as a promising solution. Due to multi-source electromechanical coupling, the powertrain of FCEVs constitutes a complex nonlinear system, necessitating an advanced energy management strategy for effective control to enhance economic performance. In this study, a novel learning-based robust model predictive control (LRMPC) is proposed for a 4WD FCEV, integrating a high-confidence velocity estimation model and an accurate state observation model to enhance energy-saving potential, robustness, and real-time application performance under various driving conditions. To enhance robustness and adaptability, deep forest with superior feature fusion abilities is employed to generate future velocity reference datasets based on FCEV operating scenarios. To improve state observation accuracy and control effectiveness, a novel built-in state observation model based on machine learning algorithms is established, leveraging knowledge of nonlinear systems within the FCEV powertrain. Subsequently, to enhance the real-time applicability of LRMPC, an explicit control scheme for multidimensional mapping based on explicit data tables is utilized for accurate state transformation, incorporating input features such as vehicle states and component states. Simulation evaluations and hardware-in-the-loop tests demonstrate the improved economic performance and real-time application ability of LRMPC, showcasing its promising performance.

A heat-measurement-free strategy for Economic Model Predictive Control of hydronic radiators

Cost-efficient measurement of room-level heat output from hydronic radiators is a major barrier to large-scale implementation of Economic Model Predictive Control (EMPC) in residential space heating for demand-side management. This paper therefore presents a novel EMPC strategy for hydronic radiators that relies on measurements of radiator pipe temperatures as a proxy for the radiator heat output, thus eliminating the need for costly flow-based meters at each radiator in a building. Simulation-based experiments indicate that the proposed proxy-based EMPC matches the performance of its heat-based counterpart. The proxy-based EMPC achieved a 16.6 % cost reduction compared to the heat-based EMPC's 16.8 %, with no comfort violations in both cases. Furthermore, the strategy shows resilience towards uncertainties in the user-estimated radiator exponent and maximum heating capacity. The proposed EMPC scheme also allows system operators to fine-tune the balance between cost savings and return temperatures using the proxy's upper limit. The findings presented in this paper suggest that the proposed proxy-based EMPC scheme provides a practical pathway for broader applications of EMPC in hydronic-based space heating with the prospect of unlocking significant load shifting potential, cost savings for end-users, and enhanced efficiency in individual and collective energy systems.