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Dissertations / Theses on the topic 'Model predictive controller (MPC)'

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Published: 25 May 2024
Last updated: 25 July 2025

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1

Bangalore, Narendranath Rao Amith Kaushal. "Online Message Delay Prediction for Model Predictive Control over Controller Area Network." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/78626.

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Today's Cyber-Physical Systems (CPS) are typically distributed over several computing nodes communicating by way of shared buses such as Controller Area Network (CAN). Their control performance gets degraded due to variable delays (jitters) incurred by messages on the shared CAN bus due to contention and network overhead. This work presents a novel online delay prediction approach that predicts the message delay at runtime based on real-time traffic information on CAN. It leverages the proposed method to improve control quality, by compensating for the message delay using the Model Predictive
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Mattsson, Mathias, and Rasmus Mehler. "Optimal Vehicle Speed Control Using a Model Predictive Controller for an Overactuated Vehicle." Thesis, Linköpings universitet, Fordonssystem, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-119480.

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To control the speed of an overactuated vehicle there may be many possible ways to use the actuators of the car achieving the same outcome. The actuators in an ordinary car is a combustion engine and a friction brake. In some cases it is trivial how to coordinate actuators for the optimal result, but in many cases it is not. The goal with the thesis is to investigate if it is possible to achieve the same or improved performance with a more sophisticated control structure than today's, using a model predictive controller. A model predictive controller combines the possibility to predict the out
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Claro, Érica Rejane Pereira. "Localização de canais afetando o desempenho de controladores preditivos baseados em modelos." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2016. http://hdl.handle.net/10183/149927.

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O escopo desta dissertação é o desenvolvimento de um método para detectar os modelos da matriz dinâmica que estejam degradando o desempenho de controladores preditivos baseados em modelos. O método proposto se baseia na análise de correlação cruzada entre o erro nominal do controlador em malha fechada e a uma estimativa da contribuição de cada canal para o cálculo da saída, filtrada pela função de sensibilidade do controlador. Esse método pode ser empregado na auditoria de controladores com variáveis controladas em setpoints e/ou com variáveis que operem entre faixas, como é usual de se encont
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4

Paula, Neander Alessandro da Silva. "MPC adaptativo - multimodelos para controle de sistemas não-lineares." Universidade de São Paulo, 2009. http://www.teses.usp.br/teses/disponiveis/3/3137/tde-14052009-000836/.

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Durante a operação de um controlador MPC, a planta pode ir para outro ponto de operação principalmente pela decisão operacional ou pela presença de perturbações medidas/não-medidas. Assim, o modelo do controlador deve ser adaptado para a nova condição de operação favorecendo o controle sob as novas condições. Desta forma, as condições ótimas de controle podem ser alcançadas com a maior quantidade de modelos identificados e com um controlador adaptativo que seja capaz de selecionar o melhor modelo. Neste trabalho é apresentada uma metodologia de controle adaptativo com identificação on-line do
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Venieri, Giulia. "Development and testing of Model Predictive Controllers for an automotive organic Rankine cycle unit." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022.

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Two-thirds of the energy produced by an internal combustion engine (ICE) is lost into waste heat through the coolant and the exhaust gas; hence, studying Waste Heat Recovery (WHR) systems is of vital importance. The organic Rankine cycle (ORC) is a powerful system to recover low-grade heat and transform it into electrical energy. This thesis aimed at developing and testing a Model Predictive Control (MPC) system that ensures a safe operation of a system that constitutes an ICE bottomed by an ORC unit. The experimentation was carried out at the DTU Mekanik laboratories and was divided into dif
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6

Andina, Elisa. "Complexity and Conservatism in Linear Robust Adaptive Model Predictive Control." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.

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Questa tesi presenta uno schema di controllo robusto adattativo basato sulla tecnica di controllo avanzato model predictive control (MPC) per sistemi lineari soggetti a disturbi additivi e incertezze parametriche, costanti e variabili. L'approccio proposto fornisce uno schema di controllo efficiente dal punto di vista computazionale con stima dei parametri online per ottenere un aumento delle prestazioni e una diminuzione progressiva del conservatismo. L'insieme dei parametri è estimato usando una tecnica di identificazione a finestra mobile per ottenere un insieme con complessità limitata. Il
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7

Rokebrand, Luke Lambertus. "Towards an access economy model for industrial process control." Diss., University of Pretoria, 2020. http://hdl.handle.net/2263/79650.

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With the ongoing trend in moving the upper levels of the automation hierarchy to the cloud, there has been investigation into supplying industrial automation as a cloud based service. There are many practical considerations which pose limitations on the feasibility of the idea. This research investigates some of the requirements which would be needed to implement a platform which would facilitate competition between different controllers which would compete to control a process in real-time. This work considers only the issues relating to implementation of the philosophy from a control theoret
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Pitta, Renato Neves. "Aplicação industrial de re-identificação de modelos de MPC em malha fechada." Universidade de São Paulo, 2012. http://www.teses.usp.br/teses/disponiveis/3/3137/tde-10042012-115001/.

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A identificação de modelos é usualmente a tarefa mais significativa e demorada no trabalho de implementação e manutenção de sistemas de controle que usam Controle Preditivo baseado em Modelos (MPC) tendo em vista a complexidade da tarefa e a importância que o modelo possui para um bom desempenho do controlador. Após a implementação, o controlador tende a permanecer com o modelo original mesmo que mudanças de processo tenham ocorrido levando a uma degradação das ações do controlador. Este trabalho apresenta uma aplicação industrial de re-identificação em malha fechada. A metodologia de excitaçã
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9

Jansson, Lovisa, and Amanda Nilsson. "Evaluation of Model-Based Design Using Rapid Control Prototyping on Forklifts." Thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-158715.

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The purpose of this thesis is to evaluate Rapid Control Prototyping which is apart of the Model-Based Design concept that makes it possible to convenientlytest prototype control algorithms directly on the real system. The evaluation ishere done by designing two different controllers, a gain-scheduled P controllerand a linear Model Predictive Controller (mpc), for the lowering of the forks of aforklift.The two controllers are first tested in a simulation environment. The thesis con-tains two different simulation models: one physical where only minor parameteradjustments are done and one estimat
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Cruz, Diego Déda Gonçalves Brito. "Detecção de erros planta-modelo em sistemas de controle preditivo (MPC) utilizando técnicas de informação mútua." Universidade Federal de Sergipe, 2017. https://ri.ufs.br/handle/riufs/5028.

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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES<br>Model predictive control (MPC) strategies have become the standard for advanced control applications in the process industry. Significant benefits are generated from the MPC's capacity to ensure that the plant operates within its constraints more profitably. However, like any controller, after some time under operation, MPCs rarely function as when they were initially designed. A large percentage of performance degradation of MPC is associated with the deterioration of model that controller uses to predict process out
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Silva, Guilherme Moura Afonso da. "Reconciliação dinâmica de dados baseada em estimadores em uma malha de controle MPC." Universidade Federal de Sergipe, 2017. https://ri.ufs.br/handle/riufs/5026.

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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES<br>The data reconciliation in process control is extremely important regarding the industries because from this it is possible to obtain a greater efficiency in the performance in industrial process control meshes aiming at a lower cost and a higher quality of the product. In this work we approach data estimation techniques for the implementation of an online dynamic data reconciliation system in order to reduce the noise and the measurement uncertainties that are submitted in the process variables. The techniques used h
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Mörhed, Joakim, and Filip Östman. "Automatic Parking and Path Following Control for a Heavy-Duty Vehicle." Thesis, Linköpings universitet, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496.

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The interest in autonomous vehicles has never been higher and there are several components that need to function for a vehicle to be fully autonomous; one of which is the ability to perform a parking at the end of a mission. The objective of this thesis work is to develop and implement an automatic parking system (APS) for a heavy-duty vehicle (HDV). A delimitation in this thesis work is that the parking lot has a known structure and the HDV is a truck without any trailer and access to more computational power and sensors than today's commercial trucks. An automatic system for searching the pa
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Fontes, Nayanne Maria Garcia Rego. "Monitoramento e avaliação de desempenho de sistemas MPC utilizando métodos estatísticos multivariados." Universidade Federal de Sergipe, 2017. http://ri.ufs.br:8080/xmlui/handle/123456789/5037.

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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES<br>Monitoring of process control systems is extremely important for industries to ensure the quality of the product and the safety of the process. Predictive controllers, also known by MPC (Model Predictive Control), usually has a well performance initially. However, after a period, many factors contribute to the deterioration of its performance. This highlights the importance of monitoring the MPC control systems. In this work, tools based on multivariate statistical methods are discussed and applied to the problem of monitor
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André, Simon. "Design and Optimization of Controllers for an Electro-Hydraulic System." Thesis, Linköpings universitet, Reglerteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-107620.

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Electro-Hydraulic (EH) systems are commonly used in the industry for applications that require high power-weight ratios and large driving forces. The EH system studied in this master thesis have recently been upgraded with new hardware components and as a part of this upgrade a new controller was requested. The system consists of a controller that computes a control signal for an electric motor. The motor drives a gear pump that generates a flow of hydraulic fluid. The flow is then directed to a cylinder. The movements of a piston in the cylinder is affected by the flow and the piston position
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Ng, Desmond Han Tien. "Stochastic model predictive control." Thesis, University of Oxford, 2011. http://ora.ox.ac.uk/objects/uuid:b56df5ea-10ee-428f-aeb9-1479ce9a7b5f.

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The work in this thesis focuses on the development of a Stochastic Model Predictive Control (SMPC) algorithm for linear systems with additive and multiplicative stochastic uncertainty subjected to linear input/state constraints. Constraints can be in the form of hard constraints, which must be satisfied at all times, or soft constraints, which can be violated up to a pre-defined limit on the frequency of violation or the expected number of violations in a given period. When constraints are included in the SMPC algorithm, the difficulty arising from stochastic model parameters manifests itself
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Barsk, Karl-Johan. "Model Predictive Control of a Tricopter." Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79066.

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In this master thesis, a real-time control system that stabilizes the rotational rates of a tri-copter, has been studied. The tricopter is a rotorcraft with three rotors. The tricopter has been modelled and identified, using system identification algorithms. The model has been used in a Kalman filter to estimate the state of the system and for design ofa model based controller. The control approach used in this thesis is a model predictive controller, which is a multi-variable controller that uses a quadratic optimization problem to compute the optimal con-trol signal. The problem is solved su
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Elgharib, Ahmed Omar Ahmed. "Différentes stratégies de contrôle pour le système d'éolienne connecté PMSG." Electronic Thesis or Diss., Aix-Marseille, 2022. http://www.theses.fr/2022AIXM0647.

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L'énergie éolienne est l'une des sources d'énergie renouvelables les plus attrayantes et prometteuses. Celle-ci offre un excellent substitut à la production d'énergie électrique traditionnelle. Les éoliennes basées sur un PMSG sont les mieux adaptées aux applications autonomes en raison de leur fiabilité et de leur haute efficacité. L'énergie éolienne a continué à jouer un rôle important et peut être considérée comme la source d'énergie renouvelable la plus déployée. Ce travail de recherche propose quelques méthodes de contrôle efficaces associées au contrôle de l'énergie éolienne. Il porte pr
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Asar, Isik. "Model Predictive Control (mpc) Performance For Controlling Reaction Systems." Master's thesis, METU, 2004. http://etd.lib.metu.edu.tr/upload/12605001/index.pdf.

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In this study, the performance of the Model Predictive Controller (MPC) algorithm is investigated in two different reaction systems. The first case is a saponification reaction system where ethyl acetate reacts with sodium hydroxide to produce sodium acetate and ethanol in a CSTR. In the reactor, temperature and sodium acetate concentration are controlled by manipulating the flow rates of ethyl acetate and cooling water. The model of the reactor is developed considering first principal models. The experiments are done to obtain steady state data from the reaction system and these are compared
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Morinelly, Sanchez Juan Eduardo. "Adaptive Model Predictive Control with Generalized Orthonormal Basis Functions." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1091.

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An adaptive model predictive control (MPC) method using models derived from orthonormal basis functions is presented. The defining predictor dynamics are obtained from state-space realizations of finite truncations of generalized orthonormal basis functions (GOBF). A structured approach to define multivariable system models with customizable, open-loop stable linear dynamics is presented in Chapter 2. Properties of these model objects that are relevant to the adaptation component of the overall scheme, are also discussed. In Chapter 3, non-adaptive model predictive control policies are present
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Greer, William Bryce. "Advanced Linear Model Predictive Control For Helicopter Shipboard Maneuvers." Diss., Virginia Tech, 2019. http://hdl.handle.net/10919/95031.

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This dissertation focuses on implementing and analyzing advanced methods of model predictive control to control helicopters into stable flight near a ship and perform a soft touchdown from that state. A shrinking horizon model predictive control method is presented which can target specific states at specific times and take into account several important factors during landing. This controller is then used in simulation to perform a touchdown maneuver on a ship for a helicopter by targeting a landed state at a specific time. Increasing levels of fidelity are considered in the simulations. Comp
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Andre, do Nascimento Allan. "Robust Model Predictive Control for Marine Vessels." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-247883.

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This master thesis studies the implementation of a Robust MPC controllerin marine vessels on different tasks. A tube based MPC is designed based onsystem linearization around the target point guaranteeing local input to statestability of the respective linearized version of the original nonlinear system.The method is then applied to three different tasks: Dynamic positioningon which recursive feasibility of the nominal MPC is also guaranteed, Speed-Heading control and trajectory tracking with the Line of sight algorithm.Numerical simulation is then provided to show technique’s effectiveness.<b
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Kestner, Brian. "Model predictive control (MPC) algorithm for tip-jet reaction drive systems." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/31802.

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Thesis (Ph.D)--Aerospace Engineering, Georgia Institute of Technology, 2010.<br>Committee Chair: Mavris, Dimitri; Committee Member: German, Brian; Committee Member: Healy, Tim; Committee Member: Rosson, Randy; Committee Member: Tai, Jimmy. Part of the SMARTech Electronic Thesis and Dissertation Collection.
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Elliott, Matthew Stuart. "Decentralized model predictive control of a multiple evaporator HVAC system." [College Station, Tex. : Texas A&M University, 2008. http://hdl.handle.net/1969.1/ETD-TAMU-3001.

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Friedbaum, Jesse Robert. "Model Predictive Linear Control with Successive Linearization." BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/7063.

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Robots have been a revolutionizing force in manufacturing in the 20th and 21st century but have proven too dangerous around humans to be used in many other fields including medicine. We describe a new control algorithm for robots developed by the Brigham Young University Robotics and Dynamics and Robotics Laboratory that has shown potential to make robots less dangerous to humans and suitable to work in more applications. We analyze the computational complexity of this algorithm and find that it could be a feasible control for even the most complicated robots. We also show conditions for a sys
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Kemppainen, Josefin. "Model Predictive Control for Heavy Duty Vehicle Platooning." Thesis, Linköpings universitet, Institutionen för systemteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78963.

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The aim of platooning is to enable several vehicles to drive in a convoy while each vehicle is controlled autonomously in longitudinal direction. All vehicles in the platoon are equipped with WiFi and can therefore apply Vehicle-to-Vehicle (V2V) communication. As a result, a short intermediate distance between the vehicles can be maintained. Reduction of the aerodynamic drag is the result of the short distance, which in turn, reduces the consumed fuel. This thesis is a part of a larger project, consisting of two other theses that investigate estimation of the sensor data. Other scenarios that
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Norstedt, Erik, and Olof Bräne. "Model Predictive Climate Control for Electric Vehicles." Thesis, Uppsala universitet, Avdelningen för systemteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-446435.

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This thesis explores the possibility of using an optimal control scheme called Model Predictive Control (MPC), to control climatization systems for electric vehicles. Some components of electric vehicles, for example the batteries and power electronics, are sensitive to temperature and for this reason it is important that their temperature is well regulated. Furthermore, like all vehicles, the cab also needs to be heated and cooled. One of the weaknesses of electric vehicles is their range, for this reason it is important that the temperature control is energy efficient. Once the range of elec
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Sha'Aban, Yusuf. "Regulatory level model predictive control." Thesis, University of Manchester, 2015. https://www.research.manchester.ac.uk/portal/en/theses/regulatory-level-model-predictive-control(1cca6fc1-8473-4191-8edd-06ddb0884040).html.

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The need to save energy, cut costs, and increase profit margin in process manufactureincreases continually. There is also a global drive to reduce energy use and cut down co2 emission and combat climate change. These in turn have led to more stringent requirements on process control performance. Hence, the requirements for modern systems are often not achievable using classical control techniques. Therefore, advanced control strategies are often required to ensure optimal process performance. Despite these challenges, PID has continued to be the dominant industrial control scheme. However, for
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Sundbrandt, Markus. "Control of a Ground Source Heat Pump using Hybrid Model Predictive Control." Thesis, Linköpings universitet, Reglerteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71369.

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The thesis has been conducted at Bosch Thermoteknik AB and its aim is to develop a Model Predictive Control (MPC) controller for a ground source heat pump which minimizes the power consumption while being able to keep the inside air temperature and Domestic Hot Water (DHW) temperature within certain comfortintervals. First a model of the system is derived, since the system consists of both continuous and binary states a hybrid model is used. The MPC controller utilizes the model to predict the future states of the system, and by formulating an optimizationproblem an optimal control is achieved
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Simon, Daniel. "Fighter Aircraft Maneuver Limiting Using MPC : Theory and Application." Doctoral thesis, Linköpings universitet, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-139945.

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Flight control design for modern fighter aircraft is a challenging task. Aircraft are dynamical systems, which naturally contain a variety of constraints and nonlinearities such as, e.g., maximum permissible load factor, angle of attack and control surface deflections. Taking these limitations into account in the design of control systems is becoming increasingly important as the performance and complexity of the aircraft is constantly increasing. The aeronautical industry has traditionally applied feedforward, anti-windup or similar techniques and different ad hoc engineering solutions to han
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Gustavsson, Andreas. "Dynamic modeling and Model Predictive Control of a vapor compression system." Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-76352.

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The focus of this thesis was on the development of a dynamic modeling capability for a vapor compression system along with the implementation of advanced multivariable control techniques on the resulting model. Individual component models for a typical vapor compression system were developed based on most recent and acknowledged publications within the field of thermodynamics. Parameter properties such as pressure, temperature, enthalpy etc. for each component were connected to detailed thermodynamic tables by algorithms programmed in MATLAB, thus creating a fully dynamic environment. The sepa
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Lundh, Joachim. "Model Predictive Control for Active Magnetic Bearings." Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-81325.

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This thesis discuss the possibility to position control a rotor levitated with active magnetic bearings. The controller type considered is model predictive control which is an online strategy that solves an optimization problem in every sample, making the model predictive controller computation-intense. Since the sampling time must be short to capture the dynamics of the rotor, very little time is left for the controller to perform the optimization. Different quadratic programming strategies are investigated to see if the problem can be solved in realtime. Additionally, the impact of the choic
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Toschi, Alessandro. "Integration of Model Predictive Control for autonomous racing." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022.

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Autonomous driving is one of the technologies that could impact significantly society in the next decades. While various advanced driver assistance systems (ADAS) have already been introduced in commercial passenger vehicles, the technology for fully self- driving cars is not yet ready. The Indy Autonomous Challenge is a competition between universities and research centers, born to advance the technology in this field by com- peting in autonomous racecar events. The IAC seeks to increase public awareness of the transformational impact that automation can have on society and solve edge-c
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Mancino, Francesco. "An embedded model predictive controller for optimal truck driving." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-205649.

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An embedded model predictive controller for velocity control of trucks is developed and tested. By using a simple model of a heavy duty vehicle and knowledge about the slope of the road ahead, the fuel consumption while traveling near a set speed is diminished by almost 1% on an example road compared to a rule based speed control system. The problem is formulated as a look-ahead optimization problem were fuel consumption and total trip time have to be minimized. To find the optimal solution dynamic programming is used, and the whole code is designed to run on a Scania gearbox ECU in parallel w
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Carlsson, Rickard. "A practical approach to detection of plant model mismatch for MPC." Thesis, Linköping University, Automatic Control, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-56581.

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<p>The number of MPC installations in industry is growing as a reaction to demands of increased efficiency. An MPC controller uses an internal plant model to run real-time predictive optimization of future inputs. If a discrepancy between the internal plant model and the plant exists, control performance will be affected. As time from commissioning increases the model accuracy tends to deteriorate. This is natural as the plant changes over time. It is important to detect these changes and re-identify the plant model to maintain control performance over time. A method for identifying Model Plan
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Hellström, Erik. "Explicit use of road topography for model predictive cruise control in heavy trucks." Thesis, Linköping University, Department of Electrical Engineering, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2843.

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<p>New and exciting possibilities in vehicle control are revealed by the consideration of topography through the combination GPS and three dimensional road maps. This thesis explores how information about future road slopes can be utilized in a heavy truck with the aim at reducing the fuel consumption over a route without increasing the total travel time. </p><p>A model predictive control (MPC) scheme is used to control the longitudinal behavior of the vehicle, which entails determining accelerator and brake levels and also which gear to engage. The optimization is accomplished through discret
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Juhlin-Henricson, Teddy. "Implementation and Analysis of a Clothoid-based Model Predictive Controller." Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-187688.

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For the last couple of years autonomous driving has increased in popularity as a research area, and it continues to grow. A topic within autonomous driving is path following, which is the subject studied in this project. One of the popular controllers to use for controlling a vehicle is the model predictive controller, because it finds an optimal control input for the vehicle based on the model of the vehicle, and its estimated future behaviour within the prediction horizon - which covers a distance ahead of the vehicle. To increase the length of this distance, one can use a new controller - t
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Braghieri, Giovanni. "Application of robust nonlinear model predictive control to simulating the control behaviour of a racing driver." Thesis, University of Cambridge, 2018. https://www.repository.cam.ac.uk/handle/1810/275524.

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The work undertaken in this research aims to develop a mathematical model which can replicate the behaviour of a racing driver controlling a vehicle at its handling limit. Most of the models proposed in the literature assume a perfect driver. A formulation taking human limitations into account would serve as a design and simulation tool for the automotive sector. A nonlinear vehicle model with five degrees of freedom under the action of external disturbances controlled by a Linear Quadratic Regulator (LQR) is first proposed to assess the validity of state variances as stability metrics. Compar
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Norén, Christoffer. "Path Planning for Autonomous Heavy Duty Vehicles using Nonlinear Model Predictive Control." Thesis, Linköpings universitet, Reglerteknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-95547.

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In the future autonomous vehicles are expected to navigate independently and manage complex traffic situations. This thesis is one of two theses initiated with the aim of researching which methods could be used within the field of autonomous vehicles. The purpose of this thesis was to investigate how Model Predictive Control could be used in the field of autonomous vehicles. The tasks to generate a safe and economic path, to re-plan to avoid collisions with moving obstacles and to operate the vehicle have been studied. The algorithm created is set up as a hierarchical framework defined by a hi
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Sjögren, Sofia, and Nina Wollinger. "Slutfasstyrning av robot : en jämförelse mellan LQ och MPC." Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-10539.

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<p>Arbetet har utförts på Saab Bofors Dynamics i Karlskoga och dess syfte var att undersöka om det är möjligt att använda modellbaserad prediktionsreglering, MPC, vid slutfasstyrning av en viss typ av robot. Som referensram används linjärkvadratisk reglering, LQ, eftersom denna reglermetod har undersökts tidigare och visat sig fungera bra vid slutfasstyrning, dock för en annan typ av robot. Anledningen till att man vill undersöka om det är möjligt att använda MPC är att styrlagen enkelt tar hand om begränsningar på systemet på ett direkt och intuitivt sätt.</p><p>Styrlagarnas uppgift är att st
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Xu, Shuqi. "Learning Model Predictive Control for Autonomous Racing : Improvements and Model Variation in Model Based Controller." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-247881.

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In this work, an improved Learning Model Predictive Control (LMPC)architecture for autonomous racing is presented. The controller is referencefree and is able to improve lap time by learning from history data of previouslaps. A terminal cost and a sampled safe set are learned from history data toguarantee recursive feasibility and non-decreasing performance at each lap.Improvements have been proposed to implement LMPC on autonomousracing in a more efficient and reliable way. Improvements have been doneon three aspects. Firstly, system identification has been improved to be runin a more efficie
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Mann, Gustav, and Jakob Luedtke. "Implementation of a Model Predictive Controller in a Spark-Ignition Engine." Thesis, Linköpings universitet, Fordonssystem, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-176534.

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The propulsion of the spark-ignition engine has been investigated and developed during the past century to improve driveability, minimize fuel consumption and emissions, resulting in highly engineered and computerized powertrains. Well balanced engine maps containing coordinated set-points and model-based information sharing have solved the cross-coupling between different control loops. During transitions between the operating conditions a disadvantageous transient behavior that affects the engine performance may occur. By implementing an MPC as a superior controller a nearly optimal control
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Ranjbar, Gigasari Roza. "Model Predictive Controller for large-scale systems - Application to water networks." Electronic Thesis or Diss., Ecole nationale supérieure Mines-Télécom Lille Douai, 2024. http://www.theses.fr/2024MTLD0002.

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Cette thèse aborde le défi de l’optimisation de la gestion des ressources en eau au sein des canaux. Il s’agit d’une tâche particulièrement complexe en raison de leur échelle étendue et de la nature diverse de leurs composants, mais également de leurs dynamiques complexes caractérisées par des retards importants et parfois des pentes nulles. En ce qui concerne les réseaux de voies navigables, l’objectif principal est de mettre en œuvre des techniques issues de la théorie du Contrôle afin d’assurer la navigabilité du réseau, garantissant le respect des niveaux d’eau pour la navigation. Plus pré
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Andersson, Amanda, and Elin Näsholm. "Fast Real-Time MPC for Fighter Aircraft." Thesis, Linköpings universitet, Reglerteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-148580.

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The main topic of this thesis is model predictive control (MPC) of an unstable fighter aircraft. When flying it is important to be able to reach, but not exceed the aircraft limitations and to consider the physical boundaries on the control signals. MPC is a method for controlling a system while considering constraints on states and control signals by formulating it as an optimization problem. The drawback with MPC is the computational time needed and because of that, it is primarily developed for systems with a slowly varying dynamics. Two different methods are chosen to speed up the process
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Freiwat, Sami, and Lukas Öhlund. "Fuel-Efficient Platooning Using Road Grade Preview Information." Thesis, Uppsala universitet, Avdelningen för systemteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-270263.

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Platooning is an interesting area which involve the possibility of decreasing the fuel consumption of heavy-duty vehicles. By reducing the inter-vehicle spacing in the platoon we can reduce air drag, which in turn reduces fuel consumption. Two fuel-efficient model predictive controllers for HDVs in a platoon has been formulated in this master thesis, both utilizing road grade preview information. The first controller is based on linear programming (LP) algorithms and the second on quadratic programming (QP). These two platooning controllers are compared with each other and with generic control
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Osunnuyi, Olufemi Adetunji. "Model predictive control of an exothermic batch reactor using near infrared (NIR) spectroscopic measurements as feedback." Thesis, University of Manchester, 2014. https://www.research.manchester.ac.uk/portal/en/theses/model-predictive-control-of-an-exothermic-batch-reactor-using-near-infrared-nir-spectroscopic-measurements-as-feedback(adf06eb7-438d-4635-a9a4-e2f5f0872693).html.

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Batch and semi-batch processes provide needed flexibility for multi-product plants, especially when products change frequently and production quantities are small. However, challenges occur when trying to implement reliable control systems in batch processes due to some unavoidable inherent characteristics such as the presence of time-varying and nonlinear batch process dynamics and a host of unmeasured disturbances. The most typical control strategy employed in batch process operations does not use utilise online measurements of variables directly related to the product quality and as such is
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Rogalsky, Dennis Wayne. "Quantifying plant model parameter effects on controller performance /." Thesis, Connect to this title online; UW restricted, 1999. http://hdl.handle.net/1773/9843.

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Evans, Martin A. "Multiplicative robust and stochastic MPC with application to wind turbine control." Thesis, University of Oxford, 2014. http://ora.ox.ac.uk/objects/uuid:0ad9b878-00f3-4cfa-a683-148765e3ae39.

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A robust model predictive control algorithm is presented that explicitly handles multiplicative, or parametric, uncertainty in linear discrete models over a finite horizon. The uncertainty in the predicted future states and inputs is bounded by polytopes. The computational cost of running the controller is reduced by calculating matrices offline that provide a means to construct outer approximations to robust constraints to be applied online. The robust algorithm is extended to problems of uncertain models with an allowed probability of violation of constraints. The probabilistic degrees of sa
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Ozbek, Murat Olus. "Inferential Model Predictive Control Of Poly(ethylene Terephthalate) Degradation During Extrusion." Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/12607497/index.pdf.

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Poly(ethylene terephthalate), PET, which is commonly used as a packaging material, is not degradable in nature. As an issue of sustainable development it must be recycled and converted into other products. During this process, extrusion is an important unit operation. In extrusion process, if the operating conditions are not controlled, PET can go under degradation, which results in the loss of some mechanical properties. In order to overcome the degradation of recycled PET (RPET), this study aims the control of the extrusion process. Dynamic models of the system for control purposes are obt
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Forel, Alexandre. "Distributed Model Predictive Operation Control of Interconnected Microgrids." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-206145.

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The upward trends in renewable energy deployment in recent years brings new challengesto the development of electrical networks. Interconnected microgrids appear as a novelbottom-up approach to the production and integration of renewable energy.Using model predictive control (MPC), the energy management of several interconnectedmicrogrids is investigated. An optimisation problem is formulated and distributed ontothe individual units using the alternating direction method of multipliers (ADMM). Themicrogrids cooperate to reach a global optimum using neighbour-to-neighbour communications.The ben
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Hyatt, Phillip Edmond. "Robust Real-Time Model Predictive Control for High Degree of Freedom Soft Robots." BYU ScholarsArchive, 2020. https://scholarsarchive.byu.edu/etd/8453.

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This dissertation is focused on the modeling and robust model-based control of high degree-of-freedom (DoF) systems. While most of the contributions are applicable to any difficult-to-model system, this dissertation focuses specifically on applications to large-scale soft robots because their many joints and pressures constitute a high-DoF system and their inherit softness makes them difficult to model accurately. First a joint-angle estimation and kinematic calibration method for soft robots is developed which is shown to decrease the pose prediction error at the end of a 1.5 m robot arm by a
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