Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 19 of 19 for “"NMPC"”.
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Aplicação de controlador NMPC em uma unidade offshore de produção de óleo e gás
… work a nonlinear model predictive controller (NMPC) applied to an offshore petroleum production facility is presented. The facility was simulated using Hysys dynamic simulation, and the used NMPC controller with phenomenological mathematical model was the BRNMPC. Some comparisons were conducted …
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Formal analysis of state estimation for nonlinear model predictive control
… state estimation method is coupled to the same NMPC controller to form state estimation-based NMPC controllers, that is, to form the ASEKF-NMPC and ASUKFNMPC controllers. The resulting NMPC controllers are applied for position control of the magnetic levitation system to validate their …
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Theoretical and Experimental Investigation of Attitude Control for Underactuated Spacecraft
… SMC and nonlinear model predictive control (NMPC). Second, a comparison between the B-dot controller and NMPC in detumbling a spacecraft equipped with two magnetorquers is explored. SEET library in STK is utilized to obtain an accurate geomagnetic field model to model the space environment. …
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Rollover prevention and path following of a scaled autonomous vehicle using nonlinear model predictive control
… (ASGV) using Nonlinear Model Predictive Control (NMPC). Open Source Software (OSS) known as Automatic Control and Dynamic Optimisation (ACADO) is used to design and simulate the NMPC controller based on an eight Degree of Freedom (8 DOF) nonlinear vehicle model with Pacejka tire model. Vehicle …
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Efficient Identification and Control Methods For Nonlinear Systems Under Uncertainty
… (MHE), Nonlinear Model Predictive Control (NMPC), and Polynomial Chaos Theory (PCT).</p> <p>When implementing control on real multivariable chemical or petrochemical processes such as distillation or separation operations, it is essential to ensure that the process remains within established …
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Design and Certification of Industrial Predictive Controllers
… is given for the iterative nonlinear MPC (NMPC), and a guarantee on overall cost decrease is developed for distributed NMPC, all without terminal conditions. Reference generation and parameter adaptation are shown to be effective mechanisms for NMPC and distributed NMPC (DNMPC) under …
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Development of a nonlinear predictive control algorithm and its application to flotation
… problem in a nonliear model predictive control (NMPC) strategy. By way of a case study, and to further understanding of the mechanisms of flotation, a dynamic model of a flotation circuit is developed. This nonlinear dynamic model is then used in the NMPC strategy to simulate the nonlinear …
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Process control of a laboratory combustor using neural networks
… network-based model-predictive controller (NMPC). It identifies the process disturbance and adjusts the manipulated variables. The second cluster is a neural network-based Smith time-delay compensator (NSTC) and is used to reduce the impact of the long sampling/analysis lags in the process. …
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Pinning control of disease networks
… feedback and nonlinear model predictive control (NMPC), are compared with one another and also with a random pinning strategy. The budget, measured in quality-adjusted life years (QALYs), is added to the cost-function for NMPC control. It is shown that budget can indeed be controlled while …
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Design and application of advanced control methods to gas turbines and networked systems
… (AMPC) and nonlinear model predictive control (NMPC), are presented along with the corresponding control algorithms. Since the parameters in a gain-scheduling PID controller change with the operating range, the need is apparent for a global nonlinear controller to cover its operating range. AMPC …
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Real-Time Optimization for Large Scale Nonlinear Processes
… arising in nonlinear model predictive control (NMPC) are presented, and their contraction properties are investigated theoretically. The practical applicability of the methods is demonstrated in an experimental application to a real distillation column, involving the real-time optimization of a …
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Optimal Control of Multiple Quadrotors for Transporting a Cable Suspended Payload
… by cables and compared with a nonlinear MPC (NMPC). Both MPC controllers LMPC and NMPC considered the constraints imposed on the system states and control inputs. The dynamic game control method was developed based on an incentive strategy for a leader-follower framework with the consideration …
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Caracterização clínica e molecular de pacientes com neoplasia mieloproliferativa crônica- cromossomo Ph- negativo
… com neoplasias mieloproliferativas crônicas (NMPC) – cromossomo Filadélfia (Ph) negativo. Esta mutação encontra-se, presente em quase todos os pacientes com policitemia vera (PV, 97%) e em cerca de 50% dos pacientes com trombocitemia essencial (TE) e mielofibrose primária (MFP). …
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Adaptive Predictive Controllers for Agile Quadrupedal Locomotion with Unknown Payloads
… adaptive L1 nonlinear model predictive control (ANMPC) at the high level, which integrates nonlinear MPC (NMPC) with an L1 adaptive controller. The prescribed optimal state and control input profiles generated by the ANMPC are then fed to the low-level nonlinear WBC. This approach aims to …
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Safe Navigation of Multi-Agent Quadrupedal Robots: A Hierarchical Control Framework Based on Distributed Predictive Control and Control Barrier Functions
… distributed nonlinear model predictive control (DNMPC) based middle-level layer responsible for uncertainty mitigation, and full-order nonlinear controllers at the low-level layer. Additionally, the latter part of this dissertation examines the integration of safety-ensuring control barrier …
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Categories in control systems software: toward a unified theory of programming & control
… is made to analytical results, and (2) NMPC path tracking of a mobile robot with obstacle avoidance through soft constraint.
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Numerical Methods for Parameter Estimation and Optimal Control of the Red River Network
… with a Nonlinear Model Predictive Control (NMPC) technique to reduce the maximum flood level at Ha Noi by controlling the water discharge at the output of the reservoir Hoa Binh. The potential of our approach is demonstrated in real-life test cases corresponding to the flood season in the …
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Path planning of agricultural UAVs for combined coverage and spot spraying application
This thesis presents the development of a path planning algorithm for unmanned aerial vehicles (UAVs) to enhance the precision and efficiency of agricultural weed management through combined spot and blanket spraying. Motivated by the growing demand for sustainable and resource-efficient farming, …
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Development of Adaptive and Factorized Neural Models for MPC of Industrial Systems
… and discussed for application purpose in the NMPC. Simulation results confirm the effectiveness of the developed model in both smooth tracking performance and less optimization time used. Conclusions and further work are given at the end of the thesis. Major contributions of the research have …