Optimal Control Sequence Research Articles

Fast embedded tube-based MPC with scaled-symmetric ADMM for high-order systems: Application to load transportation tasks with UAVs.

One of the most significant advantages of Model Predictive Control (MPC) is its ability to explicitly incorporate system constraints and actuator specifications. However, a major drawback is the computational cost associated with calculating the optimal control sequence at each sampling time, posing a substantial challenge for real-time implementation in high-order systems with fast dynamics. Additionally, uncertainties are inherently present in dynamic systems, requiring a robust formulation that accounts for these uncertainties. Additionally, uncertainties are inherently present in dynamic systems, requiring a robust formulation that accounts for these uncertainties. The tube-based MPC is one of the robustification formulations that can tackle these challenges. We propose a comprehensive methodology for designing a tube-based MPC framework specifically tailored for high-order Linear Parameter-Varying (LPV) systems with fast dynamics, along with its real-time implementation in embedded systems. Our innovations include the use of zonotopes for the offline computation of reachable sets, significantly reducing computational costs, and the development of new Linear Matrix Inequality (LMI) conditions that ensure the existence of nominal control and state sets. Additionally, we introduce a novel scaled-symmetric ADMM-based optimization algorithm, which diverges from conventional quadratic programming structures and integrates acceleration strategies and normalization techniques for enhanced numerical robustness and rapid convergence. The methodology is validated on a tiltrotor UAV with a suspended load, demonstrating its effectiveness in a trajectory tracking problem. Experimental results using a controller-in-the-loop (CIL) framework with a high-fidelity 3D simulator confirm its suitability for real-time control in practical scenarios.

Anti-Jamming Power Control Algorithm for Wireless Communication Systems Based on MPC

In complex electromagnetic environments, wireless communication system reliability can be compromised by various types of jamming. To improve reliability in the presence of malicious jamming, this paper introduces an anti-jamming power control algorithm for wireless communication systems, grounded in model predictive control (MPC) principles. The algorithm models the Yescommunication system as a linear control system, using the current signal-to-jamming-and-noise ratio (SJNR) to predict future system states and transmission power over a defined time horizon. Only the first element of the optimal control sequence is then applied to manage system power. Simulation results indicate that, compared to traditional adaptive power control algorithms, the proposed algorithm responds more swiftly to jamming variations, significantly enhancing communication reliability in high-jamming environments.

Trajectory tracking control of autonomous vehicles based on event‐triggered model predictive control

AbstractThis paper presents a lateral control scheme based on event‐triggered model predictive control for trajectory tracking of autonomous vehicles. Firstly, the augmentation system is constructed based on the known road curvature information, and the model predictive controller is utilized to obtain the optimal control sequence. Then, an event‐triggered mechanism is introduced to improve the real‐time performance of the control system. The strategy targets to reduce the computational complexity and solving frequency of the optimization problem. In addition, a contraction constraint is structured using the backstepping control strategy to ensure the stability of the control system. Finally, experiments are conducted through the CarSim/Simulink joint simulation platform, and compared with the traditional model predictive control, the method proposed in this paper has better tracking accuracy and improves the real‐time performance of the control system.

Low-Thrust Fuel-Optimal Guidance with Automatic Control Sequence Detection and Separation

This paper develops a novel fuel-optimal guidance scheme using differential algebraic techniques that is capable of handling changes in the optimal thrust sequence, in addition to a large domain of uncertainty. Taylor polynomials of the solution flow exhibit large approximation errors when the control sequence changes within the domain of operation. This property is leveraged through automatic domain splitting, a technique that tracks the approximation error and splits the domain into smaller subdomains when high errors are observed. After multiple splits, the domain is autonomously separated along the boundaries between different optimal control sequences. Crucially, each resulting subdomain encompasses only a single control sequence, ensuring that any guidance updates obtained from the final polynomial map provide the corresponding optimal control sequence. To ensure high accuracy of the guidance updates, this work also develops an efficient and iterative-less differential-algebra-based refinement algorithm, which is applied to the outputs of the polynomial map. The overall guidance scheme provides highly accurate guidance updates in response to large trajectory deviations, including new optimal control sequences, as demonstrated in an Earth–Psyche transfer.

Differential-algebraic equation-based model predictive control for trajectory tracking of spacecraft-mounted continuum manipulators

Spacecraft-mounted continuum manipulators (SMCMs) exhibit great potential for performing dexterous operations in unstructured environments due to their inherent compliance and dexterity. However, the dynamic model of the rigid-flexible coupling SMCM is highly nonlinear and typically formulated as a set of implicit differential-algebraic equations (DAEs), posing significant challenges for precise trajectory tracking control. This paper proposes a novel model predictive control (MPC) framework specifically designed for generic DAEs to achieve precise trajectory tracking of the SMCM under uncertain disturbances and input limitations. The DAE model of the SMCM is discretized into a set of nonlinear algebraic equations. By performing implicit differentiation of these equations with respect to the system state, the state transition matrix (STM) for the DAE model is derived. The optimal control action for the SMCM can be further determined based on the derived STM. Additionally, nonlinear complementary functions are introduced to address the issue of input limitations, allowing the problem of determining the optimal control sequence to be equivalently transformed into a set of nonlinear algebraic equations for solving. Numerical simulations demonstrate that the proposed approach can achieve precise trajectory tracking of the SMCM while strictly adhering to input limitations.

A Hierarchical Control Method for Trajectory Tracking of Aerial Manipulators Arms

To address the control challenges of an aerial manipulator arm (AMA) mounted on a drone under conditions of model inaccuracy and strong disturbances, this paper proposes a hierarchical control architecture. In the upper-level control, Bézier curves are first used to generate smooth and continuous desired trajectory points, and the theory of singular trajectory lines along with a Radial Basis Function Neural Network (RBFNN) is introduced to construct a highly accurate multi-configuration inverse kinematic solver. This solver not only effectively avoids singular solutions but also enhances its precision online through data-driven methods, ensuring the accurate calculation of joint angles. The lower-level control focuses on optimizing the dynamic model of the manipulator. Using a Model Predictive Control (MPC) strategy, the dynamic behavior of the manipulator is predicted, and a rolling optimization process is executed to solve for the optimal control sequence. To enhance system robustness, an RBFNN is specifically introduced to compensate for external disturbances, ensuring that the manipulator maintains stable performance in dynamic environments and computes the optimal control commands. Physical prototype testing results show that this control strategy achieves a root mean square (RMS) error of 0.035, demonstrating the adaptability and disturbance rejection capabilities of the proposed method.

Event-based model predictive control with two-phase predictive detection

This paper proposes an event-based model predictive control for continuous-time systems in the presence of bounded disturbances. A two-phase predictive event detection strategy is proposed. In the first phase, a conservative time interval is calculated based on the worst possible system behavior caused by disturbances. The optimal control sequence is applied during this interval without sampling. After the first phase, periodic samplings and detections with adjustable sampling period are then executed in the second phase until finding the triggering instant. This strategy has the advantages in terms of reducing the sampling frequency and triggering rate. The maximum number of samplings can be adjusted to balance computational cost and sensing cost. Sufficient conditions are provided for recursive feasibility and closed-loop stability.

An Advanced Control Method for Aircraft Carrier Landing of UAV Based on CAPF–NMPC

This paper investigates a carrier landing controller for unmanned aerial vehicles (UAVs), and a nonlinear model predictive control (NMPC) approach is proposed considering a precise motion control required under dynamic landing platform and environment disturbances. The NMPC controller adopts constraint aware particle filtering (CAPF) to predict deck positions for disturbance compensation and to solve the nonlinear optimization problem, based on a model establishment of carrier motion and wind field. CAPF leverages Monte Carlo sampling to optimally estimate control variables for improved optimization, while utilizing constraint barrier functions to keep particles within a feasible domain. The controller considers constraints such as fuel optimization, control saturation, and flight safety to achieve trajectory control. The advanced control method enhances the solution, estimating optimal control sequences of UAV and forecasting deck positions within a moving visual field, with effective trajectory tracing and higher control accuracy than traditional methods, while significantly reducing single-step computation time. The simulation is carried out using UAV “Silver Fox”, considering several scenarios of different wind scales compared with traditional CAPF–NMPC and the nlmpc method. The results show that the proposed NMPC approach can effectively reduce control chattering, with a landing error in rough marine environments of around 0.08 m, and demonstrate improvements in trajectory tracking capability, constraint performance and computational efficiency.

Hierarchical Coordinated Predictive Control of Multiagent Systems for Process Industries

Focusing on the requirements for efficient and accurate control in large-scale process industries with integrated “distributed-decentralized” characteristics, a novel hierarchical coordinated predictive control strategy for process industries is proposed with a multiagent system as the computational paradigm. This approach comprehensively considers the overall state of the system, the interactions of control actions among agents, the constraints of processes and energy consumption to solve the problems of poor flexibility of agent decision-making in the narrow consensus strategy and strong interaction of parts of the system. The proposed hierarchical control strategy requires each agent to perform three tasks at each time step. First, each agent iteratively obtains a consistent basis for closed-loop prediction in a distributed way. Then, each agent independently proposes a control scheme and determines its own priority by playing games based on the economic performance of the scheme. Next, each agent calculates its own optimal dynamic predictive control sequence in order of priority based on the system’s dynamic process model. Finally, by considering the temperature-control process of heating an alumina ceramic block in a high-power microwave reactor with six microwave sources, the effectiveness of the proposed hierarchical coordinated predictive control strategy is verified under different communication topologies by comparing it with the centralized model predictive control strategy.

A new mRNA structure prediction based approach to identifying improved signal peptides for bone morphogenetic protein 2

BackgroundSignal peptide (SP) engineering has proven able to improve production of many proteins yet is a laborious process that still relies on trial and error. mRNA structure around the translational start site is important in translation initiation and has rarely been considered in this context, with recent improvements in in silico mRNA structure potentially rendering it a useful predictive tool for SP selection. Here we attempt to create a method to systematically screen candidate signal peptide sequences in silico based on both their nucleotide and amino acid sequences. Several recently released computational tools were used to predict signal peptide activity (SignalP), localization target (DeepLoc) and predicted mRNA structure (MXFold2). The method was tested with Bone Morphogenetic Protein 2 (BMP2), an osteogenic growth factor used clinically for bone regeneration. It was hoped more effective BMP2 SPs could improve BMP2-based gene therapies and reduce the cost of recombinant BMP2 production.ResultsAmino acid sequence analysis indicated 2,611 SPs from the TGF-β superfamily were predicted to function when attached to BMP2. mRNA structure prediction indicated structures at the translational start site were likely highly variable. The five sequences with the most accessible translational start sites, a codon optimized BMP2 SP variant and the well-established hIL2 SP sequence were taken forward to in vitro testing. The top five candidates showed non-significant improvements in BMP2 secretion in HEK293T cells. All showed reductions in secretion versus the native sequence in C2C12 cells, with several showing large and significant decreases. None of the tested sequences were able to increase alkaline phosphatase activity above background in C2C12s. The codon optimized control sequence and hIL2 SP showed reasonable activity in HEK293T but very poor activity in C2C12.ConclusionsThese results support the use of peptide sequence based in silico tools for basic predictions around signal peptide activity in a synthetic biology context. However, mRNA structure prediction requires improvement before it can produce reliable predictions for this application. The poor activity of the codon optimized BMP2 SP variant in C2C12 emphasizes the importance of codon choice, mRNA structure, and cellular context for SP activity.

Examining the performance of Laguerre-based and nonlinear predictive control models for wheeled mobile robots when facing obstacles

This focuses on the problem of controlling the formation of a team of rotating robots that are not homonomic and are not able to interact in a barrier environment. The virtual structure formation control strategy is obtained here to calculate each path of the robot separately while the reference path of the virtual center of the formation is generated by artificial potential fields. In this presentation, we will introduce a new control algorithm that utilizes Model predictive control and nonlinear system dynamics. Three traditional model prediction control controllers (MPC): logger-based MPC, nonlinear MPC, and traditional MPC are used to apply the control algorithm for the nonlinear system. Model predictive control is used to calculate the torques required to track the path by using the dynamic model of the Rotary moving robot. A proposed control rule is the most effective approach to solving the formation and tracking problems. Model Predictive Control will be introduced through the introduction of basic ideas and terms. Traditional MPC, logger-based MPC, and non-linear MPC are among the three MPC methods to be offered. The discrete time display of the power plant under control is taken into account by developing MPC methods for linear or nonlinear systems for practical implementation. The model predictor controller optimizes a cost function to calculate an optimal control sequence at any sampling point. While ignoring the rest, the system only achieves the first control action of this sequence. During subsequent sampling, the optimization problem is resolvable with the use of updated process measurements and a different horizon. The cost function formula is determined by the controller’s purpose. An error function often plays a role in determining the objective by revealing the difference between the desired and actual response. The shape of the formation can be preserved by the law of control by utilizing information from other robots, which can be assured through a new cost function. In the current conditions of disruption, the proposed controllers can also achieve the goal of tracking the path and maintaining formation, according to the results.

Wave excitation force prediction for arrays of wave energy converters in directional waves

The implementation of advanced control strategies is an effective means of maximizing the energy production of wave energy converters (WECs), and most of them require future wave excitation forces to determine the optimal control sequence. The WECs deployed in arrays can enable a significant reduction in the cost of wave energy and improve prediction performance by incorporating excitation forces from the array. In this paper, a critical comparison of the excitation prediction methods, including the time series, machine learning, and neural network, for a two-body heaving point absorber WEC is presented. Considering the symmetry of the WEC and arrays, the directional spectrum is utilized to determine the reference measurement of wave excitation. The prediction methods are applied to isolated WEC and different array layouts. Moreover, additional sensitivity analyses are performed to evaluate the performance. The results show that the autoregressive with extra input (ARX) model has the best performance in short-term wave excitation force prediction. In most cases, the ARX model is weakly influenced by the sampling period and can adapt well to changes in the directional distribution and sea states of irregular waves, and the ARX model requires the least amount of computational time in the simulations.

Model Predictive Control for Trajectory Planning Considering Constraints on Vertical Load Variation

To address the issue of centrifugal force affecting the vertical load during the stability and trajectory planning of autonomous vehicles during high-speed cornering and obstacle avoidance, a model predictive control of trajectory planning and tracking is proposed that considers the roll factor using only a two-degrees-of-freedom vehicle dynamics model. Firstly, a trajectory planning controller is designed. As a predictive model, a dual-track two-degrees-of-freedom vehicle dynamics model is established. This model describes the relationship between tire lateral forces and vertical loads using a quadratic nonlinear tire model. To reflect the actual dynamic state of the vehicle, the controller incorporates a nonlinear constraint that considers vertical load variations. The nonlinear optimization problem is transformed into a simplified quadratic programming problem by using the Jacobian matrix method to linearize the constraints. By fitting a fourth-degree polynomial curve to the discrete points calculated by the replanning algorithm, an optimal collision-free trajectory is obtained. Secondly, an MPC trajectory tracking controller is designed to control the vehicle in real time along the optimal trajectory from the planning, incorporating control quantity constraints, control increment constraints, and lateral angle constraints to maintain the vehicle’s motion state. We transform the trajectory tracking control problem into a quadratic programming problem, solving for the optimal control sequence for the autonomous vehicle to track the trajectory, achieving an optimized solution and rolling time domain control. Finally, the effectiveness of the vehicle’s obstacle avoidance planning and tracking under high-speed double-lane-change maneuver conditions is validated using the Simulink simulation platform. The results indicate that the designed planning and tracking controllers effectively improve the obstacle avoidance planning and tracking control for high-speed autonomous vehicles.

Optimal control for reachability of Markov jump switching Boolean control networks subject to output trackability

This article aims at designing the finite horizon optimal control sequence (FHOCS) for ensuring the reachability of Markov jump switching Boolean control networks (MJSBCNs) subject to output trackability. The key step in solving such a problem is to construct a Luenberger-like observer (LLO). Our approach includes a few steps as follows. We firstly propose the formulation of the optimal control problem (OCP) of maximising the probability of finite-time reachability subject to output trackability. Then, by converting the dynamics of MJSBCNs into an equivalent expectation system, an LLO is established for MJSBCNs. In this setup, a Luenberger-like observation matrix is constructed, which is an effect tool to solve the finite-time reachability problem. Finally, an LLO method is developed to find the FHOCS by maximising the T -step Luenberger-like observation matrix. In a biological example, we show the effectiveness of our developed methods.

Optimal control of multilateral waterflooding wells in carbonate reservoirs with uncertainty consideration

The benefits of adjoint formulation in studying and improving the economic and production viability of reservoir waterflooding problems has been reported in several researches. However, there is little or no recorded report on its use for multilateral wells in uncertain waterflood reservoir conditions. This study aims to investigate the effect of geological uncertainty to multilateral well performance using adjoint formulation in oil reservoir waterflooding. First, an oil reservoir model with uncertainty assumption in permeability, Corey value, and physical dimension in reservoir compartmentalization was developed. Second, an optimal control sequence for the multilateral injection well was developed to optimize the net present value (NPV). The study revealed that with the obtained control sequence, reservoir compartmentalization notably faults in rock structure, significantly influenced the production capacity of multilateral wells which resulted in a higher NPV and oil rate when compared to other uncertainty cases.

Periodic Event-Triggered Model Predictive Control for Networked Nonlinear Uncertain Systems With Disturbances.

This article investigates the event-triggered model predictive control (MPC) problem for a class of networked nonlinear uncertain systems subject to time-varying disturbances. Different from the traditional MPC, the proposed periodic event-triggered MPC (PETMPC) method does not generate new control sequence unless a predesigned periodic event-triggering mechanism (PETM) is violated. First, a generalized proportional-integral observer (GPIO) is developed to estimate the unknown state and disturbance information by using the sampled-data output of controlled system. Then, the disturbance predictions for future finite steps are obtained based on forward Euler method. After that, with the help of prediction model, the optimal control sequence, including the future finite step predicted control inputs, is generated and dexterously exploited during the interevent interval by storing it in a buffer installed between the control sequence generator and actuator, thereby leading to the further reduction of signal transmission number and the frequency of control sequence computations. Through a rigorous stability analysis, it can be proved that the closed-loop hybrid control system is globally bounded stable under the nominal PETMPC law. Finally, numerical simulations are conducted to substantiate the feasibility and superiority of the proposed PETMPC method.

Approximate averaged bounded synthesis for a parabolic process with two switching points

In this paper we analyze the problem of the optimal bounded control with semi-definite quality criterion for parabolic process with rapidly oscillating coefficients on finite time interval. The case when optimal control goes out both on lower, and on upper restriction, that is has two switch-points is considered. Our aim is to build a synthesized control which is practically preferable to program one. But after Fourier method application such a control will contain coefficients which are expressed by series and, in addition, it irregularly depends on small parameter ε. Thus, for practical application it is natural to restrict infinite series by finite sums and to get rid of dependence on a small parameter using average procedure. So, besides the law of optimal synthesis also approximate averaged feedback control, which provides control system behavior that is close to optimal one and thus has a series of advantages from the practical application point of view, is proposed and proved. The efficiency of approximate averaged control construction procedure consisted of cutting to finite sums of series in optimal control and replacing of Fourier coefficients nonregular depended on small parameter by corresponding average values is illustrated by an example of controlled system for parabolic process. We compare the properties of the averaged control and the sequence of optimal controls calculated at the different values of the small parameter. For comparison, we use the switching points of optimal control and averaged control, deviation between optimal control and averaged control, the difference in the values of the quality criterion on optimal control and averaged control. In considered example the precision of quality criteria value on approximate control has ε-order and for sufficiently small ε the precision is one order better then ε.

Laser-free trapped ion entangling gates with AESE: adiabatic elimination of spin-motion entanglement

We discuss a laser-free, two-qubit geometric phase gate technique for generating high-fidelity entanglement between two trapped ions. The scheme works by ramping the spin-dependent force on and off slowly relative to the gate detunings, which adiabatically eliminates the spin-motion entanglement (AESE). We show how gates performed with AESE can eliminate spin-motion entanglement with multiple modes simultaneously, without having to specifically tune the control field detunings. This is because the spin-motion entanglement is suppressed by operating the control fields in a certain parametric limit, rather than by engineering an optimized control sequence. We also discuss physical implementations that use either electronic or ferromagnetic magnetic field gradients. In the latter, we show how to ‘AESE’ the system by smoothly turning on the effective spin-dependent force by shelving from a magnetic field insensitive state to a magnetic field sensitive state slowly relative to the gate mode frequencies. We show how to do this with a Rabi or adiabatic rapid passage transition. Finally, we show how gating with AESE significantly decreases the gate’s sensitivity to common sources of motional decoherence, making it easier to perform high-fidelity gates at Doppler temperatures.

Model Predictive Control for Energy Optimization of HVAC Systems Using EnergyPlus and ACO Algorithm

The deployment of model-predictive control (MPC) for a building’s energy system is a challenging task due to high computational and modeling costs. In this study, an MPC controller based on EnergyPlus and MATLAB is developed, and its performance is evaluated through a case study in terms of energy savings, optimality of solutions, and computational time. The MPC determines the optimal setpoint trajectories of supply air temperature and chilled water temperature in a simulated office building. A comparison between MPC and rule-based control (RBC) strategies for three test days showed that the MPC achieved 49.7% daily peak load reduction and 17.6% building energy savings, which were doubled compared to RBC. The MPC optimization problem was solved multiple times using the Ant Colony Optimization (ACO) algorithm with different starting points. Results showed that ACO consistently delivered high-quality optimized control sequences, yielding less than a 1% difference in energy savings between the worst and best solutions across all three test days. Moreover, the computational time for solving the MPC problem and obtaining nearly optimal control sequences for a three-hour prediction horizon was observed to be around 22 min. Notably, reasonably good solutions were attained within 15 min by the ACO algorithm.

Model Predictive Control Based on State Space and Risk Augmentation for Unmanned Surface Vessel Trajectory Tracking

The underactuated unmanned surface vessel (USV) has been identified as a promising solution for future maritime transport. However, the challenges of precise trajectory tracking and obstacle avoidance remain unresolved for USVs. To this end, this paper models the problem of path tracking through the first-order Nomoto model in the Serret–Frenet coordinate system. A novel risk model has been developed to depict the association between USVs and obstacles based on SFC. Combined with an artificial potential field that accounts for environmental obstacles, model predictive control (MPC) based on state space is employed to achieve the optimal control sequence. The stability of the designed controller is demonstrated by means of the Lyapunov method and zero-pole analysis. Through simulation, it has been demonstrated that the controller is asymptotically stable concerning track error deviation, heading angle deviation, and heading angle speed, and its good stability and robustness in the presence of multiple risks are verified.