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 20 of 344 for “"model predictive"”.
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Robust constrained model predictive control
(cont.) multiple Uninhabited Aerial Vehicles (UAVs) demonstrate that the new DMPC algorithm offers significant computational improvement compared to its centralized counterpart. The controllers developed in this thesis are demonstrated throughout in simulated examples related to vehicle control. …
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Gradient-Based Distributed Model Predictive Control
The thesis covers different topics related to model predictive control (MPC) and particularly distributed model predictive control (DMPC). One topic of the thesis is gradient-based optimization algorithms for solving the optimization problem arising in DMPC in a distributed manner. The underlying …
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Gain Conditioning for Linear Model Predictive Control
Linear model predictive control (MPC) is used in a wide variety of process industries. Linear MPCs calculate adjustments in multiple manipulated variables (MVs) to ensure that operating constraints are obeyed and that controlled variables (CVs) are maintained near their setpoints. Industrial …
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Model Predictive Control for Partial Differential Equations
In this thesis we are concerned with model predictive control (MPC) of partial differential equations. The idea is to approximate an infinite time horizon optimal control problem by a sequence of finite horizon optimal control problems. The optimization horizon plays a crucial role in the stability …
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Model Predictive Control for Temperature Dependent Systems
… a solution to this problem using adaptable Model Predictive Control (MPC) algorithms for temperature dependent systems and computational methods to optimize their performance, while maintaining a stable temperature within the process. This research investigates and evaluates MPC and compares …
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Model predictive control of wheeled mobile robots
… This research focuses on the application of Model Predictive Control (MPC) for real-time trajectory tracking of a nonholonomic WMR. MPC is a control strategy in which the control law is designed based on optimizing a cost function. The input and output constraints that may arise in practical …
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Nonlinear Model Predictive ControlFast Algorithms and Implementation
The problem of an efficient implementation of a Model Predictive Control (MPC) algorithm is addressed in this dissertation. The nominal problem formulation for the MPC control law involves the solution, for each sample time, to an optimization problem that is, in general, nonlinear and hard to be …
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Model predictive control for building temperature regulation
… of buildings should be proposed and applied. Model predictive control is widely used in building temperature regulation. Each model predictive control has its advantage. Through the comparison of several methods, this thesis discusses their respective features. The combination of a …
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Model predictive control for formation flying spacecraft
… extensions of relative linear dynamics models and assessment and mitigation of sensor noise effects on control systems. Relative dynamics models play an important role in finding drift-free initial conditions for spacecraft formations and for designing feedback controllers. This thesis …
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Stochastic Model Predictive Control via Fixed Structure Policies
<p>In this work, the model predictive control problem is extended to include not only open-loop control sequences but also state-feedback control laws by directly optimizing parameters of a control policy. Additionally, continuous cost functions are developed to allow training of the control policy …
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Non-linear model predictive control for autonomous vehicles
… processors and better optimization algorithms, Model Predictive Control (MPC) systems are more readily used for real-time applications. This research focuses on the application of MPC to trajectory generation of autonomous vehicles in an online manner. The operating environment is assumed to be …
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Model predictive control of timed continuous petri nets
… of timed continuous Petri nets. The theory of Model Predictive Control (MPC) is first discussed. Then continuous Petri nets (PN) are introduced as a powerful tool for modelling, simulation and analysis of discrete event/continuous systems. Their useful capabilities are studied. Finally, a …
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Genotype by environment model predictive ability in miscanthus
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-05-01
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Decentralized model predictive control of urban drainage systems
This thesis applies a modeling method proposed by previous literature to a specific example and develops control techniques based on this model. The inherent nonlinear behaviors of the drainage systems were accommodated by introducing binary variables and linear inequalities to merge different …
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Variable horizon model predictive control: robustness and optimality
Variable Horizon Model Predictive Control (VH-MPC) is a form of predictive control that includes the horizon length as a decision variable in the constrained optimisation problem solved at each iteration. It has been recently applied to completion problems, where the system state is to be steered …
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Multi-objectives model predictive control of multivariable systems
… MOO [Multi-Objective Optimization] design for Model Predictive Control (MPC) and Proportional Integral (PI) control are investigated for a multivariable process.
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Adaptive robust model predictive control for nonlinear systems
Modeling error and external disturbances can severely degrade the performance of Model Predictive Control (MPC) in real-world scenarios. Robust MPC (RMPC) addresses this limitation by optimizing over control policies but at the expense of computational complexity. An alternative strategy, known as …
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