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 289 for “"model predictive control"”.
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Robust constrained model predictive control
… compared to its centralized counterpart. The controllers developed in this thesis are demonstrated throughout in simulated examples related to vehicle control. Also, some of the controllers have been implemented on vehicle testbeds to verify their operation. The tools developed in this thesis …
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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
… of experienced engineers or highly expensive control programs. These systems are often poorly operated, which increases the cost of production and affects the overall performance of the process. This paper aims at proposing a solution to this problem using adaptable Model Predictive Control …
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Model predictive control of wheeled mobile robots
The control of nonholonomic wheeled mobile robots (WMRs) has gained a lot of attention in the field of robotics over the past few decades as WMRs provide an increased range of motion resulting in a larger workspace. This research focuses on the application of Model Predictive Control (MPC) for …
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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
… thesis addresses some of the key dynamics and control issues expected in future missions by pursuing two areas of advancement: extensions of relative linear dynamics models and assessment and mitigation of sensor noise effects on control systems. Relative dynamics models play an important role …
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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
This thesis addresses the optimal control problem 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 …
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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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Fast stochastic model predictive control under parametric uncertainties
Model predictive control (MPC) is widely applied in industry due to its ability to handle constraints explicitly Many processes in chemical engineering have a high number of states, but a relatively low number of inputs and outputs Input-output formulations of MPC employ process models, predicting …
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Optimal reservoir operation using stochastic model predictive control
… random external forcings that complicate theie control. In order to achieve optimal performance, these systems need to continually adapt to external disturbances in real time. This capability is provided by feedback based control strategies that derive an optimal control from the current state …
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Model Predictive Control for Autonomous Landing in Complex Scenarios
… altogether dangerous scenarios. In this thesis model predictive control (MPC) algorithms are developed to enable a quadcopter to operate and land autonomously in challenging environments. Specifically, MPC entails repeatedly solving an optimal control problem over a given time horizon. …
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Model predictive control of a thermoelectric-based heat pump.
… heat pump for both heating and cooling. A model predictive controller (MPC) is designed, implemented and tested to optimize the operation of the thermoelectric heat pump. The model predictive controller is chosen due to its ability to accept multiple constrained inputs and outputs as well …
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