MPC Scheme Research Articles

Robust model predictive control for polyhedral uncertain systems under relay and redundancy protocol

In networked systems, signal fading and packet loss occur due to limited bandwidth during signal transmission. To solve these problems, amplify-and-forward (AF) relay and redundant channels are considerd in the traditional robust model predictive control (RMPC) problem, and a novel design method for dynamic output feedback controller is propsoed in this paper. In addition to the min-max control method, the mathematical expectation is introduced to deal with the uncertainty of the system model and the randomness of the protocol parameters, sufficient conditions are established to guarantee the feasibility of the designed MPC scheme that ensures the robust stability of the closed-loop system. In terms of the solution to an auxiliary optimisation problem, an easy-to-implement MPC algorithm is proposed to obtain the desired sub-optimal control sequence as well as the upper bound of the quadratic cost function. Finally, a simulation example is shown to prove the effectiveness of the proposed RMPC strategy.

LCL APF control strategy based on model predictive control

In order to further control harmonic current in distribution network, a LCL APF control strategy based on model predictive control is proposed. Firstly, APF mathematical model is established. Then, a multi-objective optimization model predictive control strategy (MPC) is proposed, which comprehensively considers the performance of AC side and DC side of APF. This strategy solves the delay problem existing in the existing MPC strategy: while improving the performance of APF, there is no need to set weight factor; Then, Kalman filter is used to predict the inverter current, thus simplifying the APF measurement system. Finally, the simulation results show that the proposed control strategy can simplify the measurement system and make APF have stronger harmonic suppression ability when it only participates in power conversion and better active filter performance when it participates in harmonic control.

Cascade Model Predictive Control for Enhancing UAV Quadcopter Stability and Energy Efficiency in Wind Turbulent Mangrove Forest Environment

Unmanned aerial vehicle (UAV) modelling and control, particularly in quadrotors with high position-orientation coupling, present significant challenges for practical applications, such as environmental monitoring missions in windy mangrove forests. Conventional control strategies like the PID controller, often employed in simulations due to their simplicity, often underperform in real-world scenarios due to their linear assumptions. This research proposes a novel hierarchical cascaded model predictive control system for altitude, attitude, and battery efficiency for quadrotor in mangrove area. This control system addresses computational complexity by decomposing the overall MPC strategy into two distinct schemes, one for translational displacements and another for rotational movements, enhancing the UAV's resilience to wind turbulence, a significant disturbance factor in mangrove environments. Rigorous simulation and experiment test flight involving complex trajectory tracking and windy conditions demonstrate the proposed controller's superior performance compared to conventional PID controller, particularly in terms of stability, disturbance rejection, underscoring its potential for UAV applications in challenging environments.

Dynamic output feedback model predictive control for polytopic uncertain systems under decode and forward cooperative relay protocol

This paper addresses the robust model predictive control (RMPC) problem for a class of polytopic uncertain systems under the decode and forward cooperative relay protocol (DFCP). In order to combat signal fading from sensors to controllers and improve communication reliability, spatial diversity is achieved through cooperative terminal relay signals. At each transmission instant, the terminal only selects a better signal for transmission and a switched system is constructed. The aim of this paper is to design a set of desired dynamic output feedback controllers in the framework of RMPC such that the switched system with the underlying DFCP is exponentially stable. By taking the influence of the randomness of DFCP derived from a three nodes model composed of DF relay, a new objective function based on the mathematical expectation of the traditional quadratic function of MPC is established. Then, the orthogonal complement technique is applied to handle the inherent couplings of variables to formulate a solvable optimisation problem. Moreover, the sufficient conditions are provided to guarantee the recursive feasibility of the MPC strategy and the stability of the established closed-loop system in terms of the average dwell time (ADT) method. Finally, three experiments are given to illustrate the effectiveness of the proposed method.

Artificial Neural Networks for Energy Demand Prediction in an Economic MPC‐Based Energy Management System

ABSTRACTMicrogrids are a development trend and have attracted a lot of attention worldwide. The control system plays a crucial role in implementing these systems and, due to their complexity, artificial intelligence techniques represent some enabling technologies for their future development and success. In this paper, we propose a novel formulation of an economic model predictive control (economic MPC) applied to a microgrid designed for a faculty building with the inclusion of a predictive model to deal with the energy demand disturbance using a recurrent neural network of the long short‐term memory (RNN‐LSTM). First, we develop a framework to identify an RNN‐LSTM using historical data registered by a smart three‐phase power quality analyzer to provide feedforward power demand predictions. Next, we present an economic MPC formulation that includes the prediction model for the disturbance within the optimization problem to be solved by the MPC strategy. We carried out simulations with different scenarios of energy consumption, available resources, and simulation times to highlight the results obtained and analyze the performance of the energy management system. In all cases, we observed the correct operation of the proposed control scheme, complying at all times with the objectives and operational restrictions imposed on the system.

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.

Cooperative control of virtually coupled trains considering train-to-train communication cycle: a tube-based model predictive control approach

In this paper, a distributed tube-based model predictive control (TMPC) method is proposed to address the cooperative control of virtually coupled high-speed train (HSTs), which consists of an optimisation control part and a feedback control part. The novelty of this work lies in its pioneering consideration of the inconsistency between the train-to-train (T2T) communication cycle and the train operation control cycle in the cooperative control of virtually coupled trains. Firstly, for the optimisation control part, a distributed MPC scheme is designed based on the nominal train dynamics model to address the cooperative control of trains with different initial states, state constraints and control input constraints. By solving the optimisation control problem of the MPC, the optimal control input sequence and operating state sequence of the train for the next T2T communication cycle can be obtained. Secondly, the recursive feasibility and convergence of the MPC are analysed theoretically. Thirdly, for the feedback control part, an adaptive feedback control law is designed based on the actual train dynamics model, auxiliary dynamic system (ADS) and neural network techniques. In the train operation control cycle, the feedback control part utilises the optimal state sequence from the MPC as a reference for feedback control to deal with the external disturbance and train dynamics modelling inaccuracy. Fourthly, it is theoretically proved that the actual operating state of the train can converge to a small region around the optimal state of the MPC in a finite time. Finally, the effectiveness of the proposed distributed cooperative control scheme is verified by simulations.

Wind farm control using distributed economic MPC scheme under the influence of wake effect

As wind farms (WFs) expand in scale, there is a growing need for active power control to track the reference power benchmark issued by the grid dispatch center and also the imperative to reduce the fatigue load on key components of each wind turbine (WT). The presence of the wake effect causes a decrease in power generation for downstream WTs and an increase in the fatigue load. Consequently, the suppression of the wake effect has emerged as a critical control objective for WFs. For tackling the challenge, this article designs a hierarchical WF control framework. The upper-level controller employs a sequential convex programming (SCP) approach to maximize the WF's captured wind energy function and determine the optimal induction factors for the WTs. The lower-layer controller uses a distributed economic model predictive control (DEMPC) scheme to control the WT locally to achieve reference power tracking while reducing the fatigue load on each WT. Finally, the effectiveness of the designed algorithm was verified by conducting the simulation on a wind farm containing nine WTs.

Tube-based MPC strategy for load frequency control of multi-area interconnected power system with HESS

With the rapid development of power generation technology and the increasing demand from power users, multi-area interconnected power systems have become a development trend. This article proposes a new robust tube-based model predictive control strategy (MPC) for multi-area interconnected power systems with hybrid energy storage systems (HESS), based on the application of HESS to optimize the performance of load frequency control in power systems. The proposed strategy is mainly based on a new robustness constraint, which effectively handles uncertain disturbances within interconnected power system by compressing the disturbance invariant set. This strategy effectively alleviates the problems caused by inconsistency in multi-area interconnection modes. In addition, a sufficient stability criterion is derived to ensure the robust stability of the system, even under uncertain disturbances. By modeling a four-area interconnected power system with HESS, the frequency fluctuations of different methods are compared and discussed in each area. Based on the constructed software-in-the-loop setup, the effectiveness and feasibility of the proposed strategy are verified by experiments.

Distributed Drive Electric Vehicle Handling Stability Coordination Control Framework Based on Adaptive Model Predictive Control.

Distributed drive electric vehicles improve steering response and enhance overall vehicle stability by independently controlling each motor. This paper introduces a control framework based on Adaptive Model Predictive Control (AMPC) for coordinating handling stability, consisting of three layers: the dynamic supervision layer, online optimization layer, and low-level control layer. The dynamic supervision layer considers the yaw rate and maneuverability limits when establishing the β-β˙ phase plane stability boundary and designs variable weight factors based on this stability boundary. The online optimization layer constructs the target weight-adaptive AMPC strategy, which can adjust the control weights for maneuverability and lateral stability in real time based on the variable weight factors provided by the dynamic supervision layer. The low-level control layer precisely allocates the driver's requested driving force and additional yaw moment by using torque distribution error and tire utilization as the cost function. Finally, experiments are conducted on a Simulink-CarSim co-simulation platform to assess the performance of AMPC. Simulation results show that, compared to the traditional MPC strategy, this control strategy not only enhances maneuverability under normal conditions but also improves lateral stability control under extreme conditions.

Epidemic dynamics edge caching strategy for 6G networks

By caching popular content on edge servers closer to users to respond to users’ content requests in 6G networks, the transmission load of backhaul links can be reduced. However, the time-varying characteristics of content prevalence leads to the issue that the cache content may not match the user’s needs, resulting in a decrease in cache success ratio. To solve these issues, we proposed a cache distribution strategy based on epidemic dynamics (CDSED) for 6G edge network. First, a 6G edge caching content model (6G ECCM) is constructed to establish the process of cache content propagation among users as an infectious disease propagation process, analyze the distribution of users’ interest in cache content and obtain the cache content state probability prediction equation, and use the cache content state probability prediction equation to predict the cache content prevalence. Second, based on the predicted prevalence results, a prevalence predictive genetic-annealing cache content algorithm (PGAC) is proposed with the optimization objective of maximizing the cache success ratio. The algorithm designs the selection function of the traditional genetic algorithm as a simulated annealing selection function based on the cache content success ratio, which avoids the defect of the genetic algorithm that converges to the locally optimum cache strategy too early and enhances the cache success ratio. Finally, the optimum cache content decision is solved by iterative alternation. Simulation results demonstrate that CDSED strategy can enhance cache success ratio than the LRU strategy, the LFU strategy, and the MPC strategy.

Data-driven economic MPC with asymptotic stability and strong duality verification using Hankel matrix

We consider the problem of dynamic regulation with an economic cost function to control unknown linear systems, in which improving the economic performance and guaranteeing the stability of economical optimal equilibrium point are control objectives. A data-driven economic MPC scheme is presented using measured input-output trajectories without a prior system identification step. Our method uses Hankel matrices which include one input-output data trajectory for prediction in economic MPC, while persistently exciting of the input generating the data is needed. One of the novelties of the presented framework is directly verifying the strong duality property from input-output trajectory with the general cost function, considered as the supply rate. This is used to find a Lyapunov function for data-driven economic MPC. Under the strong duality assumption, asymptotic stability of the economical optimal equilibrium point for the closed-loop system with terminal equality constraint is guaranteed. The proposed data-driven economic MPC approach needs only persistently exciting data trajectory along with an upper bound on the system order and need no model description and no online parameter estimation. The proposed scheme applicability compared to the existing model-based economic MPC and data-driven MPC is illustrated for continuous stirred tank reactor (CSTR) and a numerical example and the robustness of the proposed scheme is evaluated in the case of measurement noise, as well as nonlinear model for CSTR system.

PrivData Network: A Privacy-Preserving On-Chain Data Factory and Trading Market

Privacy concerns often raise when sensitive data are collected, traded, and processed. The data owner typically loses her ultimate control of the data after data-outsourcing. In this work, we present the PrivData Network – a community-controlled privacy-preserving data factory and trading market. It can be viewed as a standalone data ecosystem that enables privacy-preserving data-driven workflows in a controlled environment for orchestrating and automating data movement and data transformation. In particular, we design a data encapsulation mechanism with privacy assurance, which can guarantee data privacy, usage policy compliance and metadata validity. We also design a privacy policy language and utilize a static analysis library that transfers the program to the defined policy language. To ensure the correctness of data processing, we propose a publicly verifiable secure multiparty computation protocol for mixed circuits, which guarantees the output correctness even if all parties are corrupted. Its online efficiency is comparable to conventional semi-honest secret-sharing-based MPC schemes. Finally, we implemented a prototype of our system in C++ and benchmark it on various tasks, such as biometric matching, logistic regression, and decision trees, etc.

Systematic Development of Application-Oriented Operating Strategies for the Example of an Industrial Heating Supply System

The ongoing challenge to ensure a sustainable and affordable energy supply forces industrial companies to transform their energy system. This transformation usually leads to an increase in topological complexity, which in turn results in increased operational complexity. Existing approaches from the field of supervisory and optimal control are capable of mastering complex operational problems. However, due to the complex and non-transparent implementation, there is still no industrial penetration, which hinders the necessary transformation of energy systems. This work aims at establishing trust in these control approaches and presents a procedure model for the systematic development of application-oriented operating strategies for industrial energy heating systems. It combines research approaches from the fields of sequencing control and approximate MPC to extract rule-based operating strategies, which are inherently easy to understand and implementable. By splitting the procedure model into five phases, expert knowledge can be integrated in a targeted manner. The procedure model is validated by the exemplary application to an industrial heating supply system. As part of an optimization study, the operating strategy developed is compared with both an MPC strategy and a baseline strategy. While the conventional MPC approach represents the upper limit of optimality, the operating strategy developed is able to achieve comparable results. Compared to the baseline strategy, a relative reduction in operating costs of 5.4% to 37.0% is achieved.

A Self-Triggered MPC Strategy With Adaptive Prediction Horizon for Series Hybrid Electric Powertrains

A Self-Triggered MPC Strategy With Adaptive Prediction Horizon for Series Hybrid Electric Powertrains

Model-Based Predictive Control of a Solar Reactor

The present paper deals with the modelling and control of a solar reactor designed to produce syngas, by exploiting concentrated solar power. A model of the reactor based on the thermodynamic equilibrium is developed. Two model-based predictive control strategies are proposed: the first strategy (MPC strategy 1) aims to maintain the reactor's temperature at its nominal value whereas the second strategy (MPC strategy 2) aims to maintain the reactor's temperature at its nominal value, while maximizing the use of solar energy. Finally, these strategies are compared to a reference strategy, which is based on a combination of a rule-based controller and an adaptive PID controller with optimized gains. The robustness of the MPC controller to forecast errors is also studied by testing different DNI forecasting models. Parts of this paper were published as journal articleKarout, Y.; Curcio, A.; Eynard, J.; Thil, S.; Rodat, S.; Abanades, S.; Vuillerme, V.; Grieu, S. Model-Based Predictive Control of a Solar Hybrid Thermochemical Reactor for High-Temperature Steam Gasification of Biomass. Clean Technol. 2023, 5, 329-351. https://doi.org/10.3390/cleantechnol5010018

Application of a stabilizing model predictive controller to path following for a car‐like agricultural robot

AbstractThis work addresses the problem of path following for a car‐like agricultural robot by means of a finite control set model predictive control (FCS‐MPC) strategy that considers the control actions in a set composed of a limited amount of elements. Recent results on a stabilizing MPC formulation that replaces the classical control invariant set by a pair of inner‐outer sets are extended to preserve stability properties with different control and prediction horizons and are then used for the aforementioned application. Being particularly simple, the presented approach can explicitly deal with nonlinearities and constraints at the expense of resolution in the vehicle steering system, which in practice does not affect the controller performance as will be shown. In addition to describing the control method, simulations and a comparison with another nonlinear MPC strategy are presented to illustrate the advantages of the proposed scheme.

An energy management strategy for fuel cell hybrid electric vehicle based on a real-time model predictive control and pontryagin’s maximum principle

ABSTRACT In order to maintain the battery SOC, the fuel cell power will fluctuate dramatically, as well as frequent start-stop, which will greatly increase the life attenuation of the fuel cell and reduce the durability. An optimization-based energy management strategy with a real-time model predictive control and pontryagin’s maximum principle for FCHEV is proposed in this paper, both the fuel economy and the fuel cell durability are considered in the optimization. A novel model predictive control is studied to achieve energy distribution. After the calculation of predicted speed sequence through back propagation neural network, pontryagin’s maximum principle is introduced to solve the optimal control problem in each prediction horizon and obtain the ideal control strategy. In addition, the fuel cell degradation model is introduced in the modeling process, the minimum power point of the fuel cell system is designed to improve the fuel economy and durability of the fuel cell. Compared with the rule-based strategy, the proposed MPC strategy has better performance to reduce the total equivalent hydrogen consumption, which can save up to 8.44% in the test case of the mid-size fuel cell passenger car while maintaining the stability of the battery’s state of charge.

Hierarchical Velocity Optimization for Connected Automated Vehicles With Cellular Vehicle-to-Everything Communication at Continuous Signalized Intersections

The rapid development of intelligent connected technologies and cellular vehicle-to-everything communication (C-V2X) provide new opportunities to solve the connected automated vehicle (CAV) traffic problem for eco-driving at continuous signalized intersections. With C-V2X, a hierarchical velocity optimization design based on hybrid model predictive control technique (HVO-HMPC) is presented to reduce the fuel consumption and pollution emission. First, a distance–domain velocity optimization problem, with distance as the independent variable, was constructed. Second, a hybrid MPC scheme was developed by combining the multiple shooting method and MPC technique to calculate the optimal velocity profile of a high-level controller, which acts as the reference velocity in a low-level controller. Then, a car-following model was built, the low-level controller tracked the reference velocity with the predictive control as the backbone, and the optimal velocity was calculated while ensuring that the safety velocity constraint is satisfied. Next, the proposed HVO-HMPC was tested in Prescan, and the effect comparisons with different control methods in terms of fuel consumption, pollution emission, braking time, and number of braking applications were studied under different driving scenarios. Results show that once the maximal speed is limited to 40 km/h under short-period signals and 20 km/h under long-period signals, the HVO-HMPC effectively reduces fuel consumption by 27.21%, 25.89%, and pollution emissions by 25.3%, 25.97%, respectively, while achieving best performance. Finally, an experimental prototype is built to confirm the validity of the HVO-HMPC.

Development of a Distributed Adaptive Dual MPC Scheme with Application to Control of an Octuple Tank System

The distributed model predictive control (dMPC) provides a computationally efficient framework for designing controllers for a large dimensional plant. The performance of such dMPC scheme critically depends upon the quality of the control relevant models used for predictions. In continuously operated processes, model plant mismatch (MPM) arises due to the time-varying nature of process parameters and shift in the operating conditions due to economic considerations and this results in performance degradation. Recently an adaptive version of dMPC (dAMPC) has been developed that achieves better control performance using online model parameter update. A conventional adaptive MPC scheme, however, requires external dither signal to be injected to generate sufficient excitation needed for parameter estimation. In this work, dAMPC is cast in the dual control framework (dADMPC) which ensured sufficient input excitation as and when needed for better online parameter estimation. The proposed controller is based on black-box models parameterized using generalized orthogonal basis filters (GOBF). The Fourier coefficients of the GOBF models are dynamically updated online using recursive parameter estimators to account for MPM. The efficacy of the proposed scheme is demonstrated by simulating servo and regulatory problems associated with the benchmark octuple tank process. The simulation study reveals that performance of the proposed dADMPC scheme is comparable to a centralized ADMPC while achieving a considerable reduction in the online computation time.