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Dissertations / Theses on the topic 'MPC'

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1

Lima, Marcelo Lopes de. "Distributed satisficing MPC." reponame:Repositório Institucional da UFSC, 2014. https://repositorio.ufsc.br/xmlui/handle/123456789/122752.

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Tese (doutorado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2013.<br>Made available in DSpace on 2014-08-06T17:19:47Z (GMT). No. of bitstreams: 1 325382.pdf: 1772540 bytes, checksum: 52b8f812eaccad89bad0282c1c7c5db4 (MD5)<br>Abstract : To obtain a Pareto-optimal solution, the classical cooperative MPC implementsa categorical altruism imposed by a fixed global cost sharedby all the local controllers. Instead, this thesis implements a situationalaltruism where a global cost, neither imposed nor fix
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Kück, Corvin. "MPC Design For Autonomous Drifting." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-215873.

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The goal of this thesis is to evaluate the performance of different controllers to keep a remotecontrolledvehicle in a sustained drift. A bicycle model and an empirical tyre model are used formodelling the vehicle. The parameters for the used Fiala tyre model are experimentally identifiedand the simulation results of the modelled vehicle are compared to measured experimental data. Itfollows a stability analysis of the modelled system. The system is then linearized around one ofthe drift equilibria to allow controller design. A state feedback controller is designed to stabilizethe system, the c
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Torabi, Zahra. "Distributed non-cooperative robust economic predictive control for dynamically coupled linear systems." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022.

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In this thesis, a tube-based Distributed Economic Predictive Control (DEPC) scheme is presented for a group of dynamically coupled linear subsystems. These subsystems are components of a large scale system and control inputs are computed based on optimizing a local economic objective. Each subsystem is interacting with its neighbors by sending its future reference trajectory, at each sampling time. It solves a local optimization problem in parallel, based on the received future reference trajectories of the other subsystems. To ensure recursive feasibility and a performance bound, each subsys
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Jimoh, Mohammed Tajudeen. "A vision for MPC performance maintenance." Thesis, University of Glasgow, 2013. http://theses.gla.ac.uk/4739/.

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Model predictive control (MPC) is an advanced control that has found widespread use in industries, particularly in process industries like oil refining and petrochemicals. Although the basic premise behind MPC is easy to comprehend, its inner workings are still generally viewed or regarded as too advanced for actual plant operator understanding. This lack of understanding is exposed when MPC performance deteriorates sometime after commissioning, as is often the case in some commercially operated process plants. Currently operators might have difficulty over reasoning about MPC performance degr
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Klaesson, Filip, and John Friberg. "Autonomous Overtaking Using Reachability Analysisand MPC." Thesis, KTH, Skolan för teknikvetenskap (SCI), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230162.

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The era of autonomous cars is on the rise. Asdrivers lose control of the steering wheel, it is crucial that thecars themselves can guarantee safety for all traffic participants.This study aims to design a complete control system that cansafely perform an overtaking maneuver. To guarantee safety ofthe maneuver, reachability calculations will be carried out andanalyzed. The overtaking will be planned by using the modelpredictive control, MPC, framework. To complete the controlsystem a modified proportional controller will be designed totrack the planned path. The control system is implemented in
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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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Bin, Elisa. "MPC-based Visual Servo Control for UAVs." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-284503.

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Vision information is essential for planning and control of autonomous systems.Vision-based control systems leverage rich visual input for motion planningand manipulation tasks. This thesis studies the problem of Image-BasedVisual Servo (IBVS) control for quadrotor UAVs. Despite the effectiveness ofvision-based systems, the control of quadrotors with IBVS presents the nontrivialchallenge of matching the 6 DoF control output obtained by the IBVSwith the 4DoF of the quadrotor. The novelty of this work lies in addressing theunder-actuation problem of quadrotors using linear Model Predictive Contr
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Maguire, Emma. "Monitoring of Lubricant Degradation with RULER and MPC." Thesis, Linköping University, Department of Physics, Chemistry and Biology, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-57846.

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<p>Traditional oil analysis methods - e.g. acidity and viscosity measurements - have been used to monitor lubricant conditions. These methods can detect when the useful life of a lubricant is over but fall short when trying to gain insight on how long a lubricant in current use could last. This makes it difficult to make proactive decisions and estimate oil drain periods. Lubricants do not start to degrade until the antioxidants, which prevent from oxidation, have depleted to a certain level where they no longer can protect the base oil from degradation. During the degradation process insolubl
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Meum, Patrick. "Optimal Reservoir control using nonlinear MPC and ECLIPSE." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2007. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9610.

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<p>Recent years advances within well deployment and instrumentation technology offers huge potentials for increased oil recovery from reservoir production. Wells can now be equipped with controllable valves at reservoir depth, which may possibly alter the production profitability of the field completely, if the devices are used in an intelligent manner. This thesis investigates this potential by using model predictive control to maximize reservoir production performance and total oil production. The report describes an algorithm for nonlinear model predictive control, using a single shooting,
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Fleming, James. "Robust and stochastic MPC of uncertain-parameter systems." Thesis, University of Oxford, 2016. https://ora.ox.ac.uk/objects/uuid:c19ff07c-0756-45f6-977b-9d54a5214310.

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Constraint handling is difficult in model predictive control (MPC) of linear differential inclusions (LDIs) and linear parameter varying (LPV) systems. The designer is faced with a choice of using conservative bounds that may give poor performance, or accurate ones that require heavy online computation. This thesis presents a framework to achieve a more flexible trade-off between these two extremes by using a state tube, a sequence of parametrised polyhedra that is guaranteed to contain the future state. To define controllers using a tube, one must ensure that the polyhedra are a sub-set of th
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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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Bonne, François. "Modélisation et contrôle des grands réfrigérateurs cryogéniques." Thesis, Grenoble, 2014. http://www.theses.fr/2014GRENT094/document.

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Ce manuscrit de thèse s'intéresse à la modélisation et au contrôle des réfrigérateurs cryogéniques. Le cas particulier des réfrigérateurs soumis à de fortes variations de charges thermiques est étudié. Un modèle de chaque objet pouvant se trouver dans un réfrigérateur est proposé. La méthodologie d'assemblage pour obtenir le modèle des sous-systèmes qui composent le réfrigérateur est présenté, accompagnée de la méthode permettant d'obtenir une approximation linéaire des modèles des sous-systèmes. Grâce aux modèles développées, des lois de commande avancées sont synthétisées. Un contrôleur liné
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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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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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Hein, Sabine. "MPC/LQG-Based Optimal Control of Nonlinear Parabolic PDEs." Doctoral thesis, Universitätsbibliothek Chemnitz, 2010. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-201000134.

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The topic of this thesis is the theoretical and numerical research of optimal control problems for uncertain nonlinear systems, described by semilinear parabolic differential equations with additive noise, where the state is not completely available. Based on a paper by Kazufumi Ito and Karl Kunisch, which was published in 2006 with the title "Receding Horizon Control with Incomplete Observations", we analyze a Model Predictive Control (MPC) approach where the resulting linear problems on small intervals are solved with a Linear Quadratic Gaussian (LQG) design. Further we define a performance
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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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Overvåg, Thomas Ferstad. "Centrifugal Compressor Load Sharing with the use of MPC." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2013. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-20687.

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The work presented in this thesis examines the possibilities of having compressors running in an optimal manner which can result in energy savings. This research looks at how a compressor operates and the problems which can occur when connecting several machines, both in series and parallel. It is mainly focused on using Model Predictive Control (MPC), as a setup for controlling each compressor to a fixed operating point on the characteristic with relation to mass flow and pressure. Constraints are set on the controller outputs to help minimize the area of operation. Several types of efficienc
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Correa, Córdova Max Leo. "High performance implementation of MPC schemes for fast systems." Master's thesis, Pontificia Universidad Católica del Perú, 2016. http://tesis.pucp.edu.pe/repositorio/handle/123456789/7011.

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In recent years, the number of applications of model predictive control (MPC) is rapidly increasing due to the better control performance that it provides in comparison to traditional control methods. However, the main limitation of MPC is the computational e ort required for the online solution of an optimization problem. This shortcoming restricts the use of MPC for real-time control of dynamic systems with high sampling rates. This thesis aims to overcome this limitation by implementing high-performance MPC solvers for real-time control of fast systems. Hence, one of the objectives of
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Gallieri, Marco. "ℓasso-MPC - predictive control with ℓ₁-regularised least squares". Thesis, University of Cambridge, 2014. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.708356.

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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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PINHEIRO, Tarcísio Carlos Farias. "Controle MPC multivariável com restrições usando funções de Laguerre." Universidade Federal do Pará, 2018. http://repositorio.ufpa.br/jspui/handle/2011/10067.

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Submitted by Luciclea Silva (luci@ufpa.br) on 2018-06-28T13:22:37Z No. of bitstreams: 2 license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Dissertacao_controlempcmultivariavel.pdf: 17090263 bytes, checksum: 9c35a8e3be627f9a64e83d1d833824c8 (MD5)<br>Approved for entry into archive by Luciclea Silva (luci@ufpa.br) on 2018-06-28T13:23:07Z (GMT) No. of bitstreams: 2 license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Dissertacao_controlempcmultivariavel.pdf: 17090263 bytes, checksum: 9c35a8e3be627f9a64e83d1d833824c8 (MD5)<br>Made available in DSpace on 2
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Cowie, Lauren. "The synthesis and self-assembly of MPC block copolymers." Thesis, Durham University, 2013. http://etheses.dur.ac.uk/7341/.

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Biocompatible and biodegradable poly(lactide)-2-methacryloyloxyethyl phosphorylcholine (PLA-PMPC) amphiphilic block copolymers were synthesized by a combination of Ring Opening Polymerization (ROP) and Reversible Addition-Fragmentation Chain Transfer (RAFT) polymerization techniques. The PLA-macroRAFT agent was synthesized by the derivatization of PLA-OH with RAFT agent 4-cyano-4-(phenylcarbonothioylthio)pentanoic acid (CPADB) achieving high levels of functionalization and narrow weight distributions (PDI range of 1.02-1.17). PLA-PMPC with varied MPC block lengths were synthesized yielding pol
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Friberg, John. "Tuning an MPC-based Motion Planner using Imitation Learning." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-300908.

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Model Predictive Control, MPC, is one of the most commonly used controllers today. They are well understood with a vastly researched theoretical background. One of the core strengths of MPC is that it is possible to provide safety guarantees for complex systems through the constraints enforced in the optimization problem. This makes them useful for autonomous vehicle trajectory planning. However, as system complexity goes up, so does the number of states and thus also the number of weight parameters. Tuning these parameters is a difficult, tiresome and time-consuming task that could be automat
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Lilja, Joakim. "Combined Attitude and Orbital MPC for Thruster Based Spacecrafts." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-211552.

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A spacecraft needs to simultaneously provide orbital and attitude controlbut these are in general treated as separate systems. Normally the attitudecontrol is conducted via reaction wheels but can in scenarios with high manoeuvrabilitydemands be handed over to pure thruster control. In specificcases the reaction wheels are removed from the spacecraft to save mass. Ifboth the orbital and attitude control is regulated with thrusters, there is apotential to save fuel in a combined control strategy. Model predictive controlhas been shown to be a viable method for orbital control with a fuel minimi
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Berglund, Erik. "LQR and MPC control of a simulated data center." Thesis, KTH, Optimeringslära och systemteori, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-214564.

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One of the largest contributions to a data center’s power usage is its cooling system. To decrease the energy usage of the cooling system, an automatic control scheme that adapts the capacity of the cooling units is needed. In this master thesis, a Simulink model of a data center is developed, along with several LQR and one MPC controller. The controllers control the outlet temperature and volumetric airflow of two CRAH units in the simulated data center. Simulations are performed in which the controllers are judged based on their estimated energy usage and how often the server temperatures in
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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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Nery, Júnior Gesner Andrade. "Sintonia ótima de controladores MPC considerando incertezas de modelagem." Universidade Federal da Bahia. Escola Politécnica, 2015. http://repositorio.ufba.br/ri/handle/ri/19395.

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Submitted by LIVIA FREITAS (livia.freitas@ufba.br) on 2016-05-12T23:22:50Z No. of bitstreams: 1 Dissertação_Gesner_impressão.pdf: 2893479 bytes, checksum: 25498aae8f6e25409f2b46f00e47e333 (MD5)<br>Approved for entry into archive by LIVIA FREITAS (livia.freitas@ufba.br) on 2016-06-06T14:56:56Z (GMT) No. of bitstreams: 1 Dissertação_Gesner_impressão.pdf: 2893479 bytes, checksum: 25498aae8f6e25409f2b46f00e47e333 (MD5)<br>Made available in DSpace on 2016-06-06T14:56:56Z (GMT). No. of bitstreams: 1 Dissertação_Gesner_impressão.pdf: 2893479 bytes, checksum: 25498aae8f6e25409f2b46f00e47e333 (MD5)<br>
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Diaz, Dorado Alberto. "Efficient Convex Quadratic Optimization Solver for Embedded MPC Applications." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-240421.

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Model predictive control (MPC) is an advanced control technique thatrequires solving an optimization problem at each sampling instant. Severalemerging applications require the use of short sampling times tocope with the fast dynamics of the underlying process. In many cases,these applications also need to be implemented on embedded hardwarewith limited resources. As a result, the use of model predictivecontrollers in these application domains remains challenging.This work deals with the implementation of an interior point algorithmfor use in embedded MPC applications. We propose a modularsoftw
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Sörliden, Pär. "3D Visualization of MPC-based Algorithms for Autonomous Vehicles." Thesis, Linköpings universitet, Fordonssystem, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-157380.

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The area of autonomous vehicles is an interesting research topic, which is popular in both research and industry worldwide. Linköping university is no exception and some of their research is based on using Model Predictive Control (MPC) for autonomous vehicles. They are using MPC to plan a path and control the autonomous vehicles. Additionally, they are using different methods (for example deep learning or likelihood) to calculate collision probabilities for the obstacles. These are very complex algorithms, and it is not always easy to see how they work. Therefore, it is interesting to study i
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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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Javalera, Rincón Valeria. "Distributed large scale systems : a multi-agent RL-MPC architecture." Doctoral thesis, Universitat Politècnica de Catalunya, 2016. http://hdl.handle.net/10803/393922.

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This thesis describes a methodology to deal with the interaction between MPC controllers in a distributed MPC architecture. This approach combines ideas from Distributed Artificial Intelligence (DAI) and Reinforcement Learning (RL) in order to provide a controller interaction based on cooperative agents and learning techniques. The aim of this methodology is to provide a general structure to perform optimal control in networked distributed environments, where multiple dependencies between subsystems are found. Those dependencies or connections often correspond to control variables. In that cas
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Wan, Jian. "Computationally reliable approaches of contractive MPC for discrete-time systems." Doctoral thesis, Universitat de Girona, 2007. http://hdl.handle.net/10803/7740.

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La tesis pretende explorar acercamientos computacionalmente confiables y eficientes de contractivo MPC para sistemas de tiempo discreto. Dos tipos de contractivo MPC han sido estudiados: MPC con coacción contractiva obligatoria y MPC con una secuencia contractiva de conjuntos controlables. Las técnicas basadas en optimización convexa y análisis de intervalos son aplicadas para tratar MPC contractivo lineal y no lineal, respectivamente. El análisis de intervalos clásicos es ampliado a zonotopes en la geometría para diseñar un conjunto invariante de control terminal para el modo dual de MPC. Tam
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Selvatici, Luca. "Distributed cooperative MPC for aerial robots: a ROS 2 implementation." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.

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The significant decrease in manufacturing costs of hardware components for quadrotors has greatly encouraged research into the design of flight control algorithm for quadrotors, which has seen great growth in recent years. One of the key aspects of the research is the communication between the quadrotors. Nowadays it is considered essential that the quadrotors can communicate with each other. This feature allows numerous advantages: it is possible to generate a network capable of collaborating to solve complex tasks that single quadrotors would not be able to perform, or complete them in a sho
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Axehill, Daniel, and Johan Sjöberg. "Adaptive Cruise Control for Heavy Vehicles : Hybrid Control and MPC." Thesis, Linköping University, Department of Electrical Engineering, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1604.

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<p>An Adaptive Cruise Controller (ACC) is an extension of an ordinary cruise controller. In addition to maintaining a desired set velocity, an ACC can also maintain a desired time gap to the vehicle ahead. For this end, both the engine andthe brakes are controlled. </p><p>The purpose with this thesis has been to develop control strategies for an ACC used in heavy vehicles. The focus of the work has been the methods used for switching between the use of engine and brake. Two different methods have been studied, a hybrid controller and an MPC-controller. </p><p>For the hybrid controller, the mai
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Palma, Vryan Gil [Verfasser], and Lars [Akademischer Betreuer] Grüne. "Robust Updated MPC Schemes / Vryan Gil Palma. Betreuer: Lars Grüne." Bayreuth : Universität Bayreuth, 2015. http://d-nb.info/1071890077/34.

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Annergren, Mariette. "Optimal Input Signal Design and MPC of Nonlinear Dynamical Systems." Thesis, KTH, Reglerteknik, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-105134.

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The main topics of this master’s project are control theory, system identification and convex optimization. The objective is to develop, implement and test methods for optimal input signal design and for control of a nonlinear dynamical system using MPC. The thesis begins with a theoretical part, in which some known results in these fields are summarized. In the applied part of the thesis, methods are developed and exemplified in MATLAB. Optimal input signal design is performed on specific FIR, ARX and DCmotor systems which are all controlled by an MPC. The implementation works very well for t
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Poma, Aliaga Luis Felipe. "Reliable autonomous vehicle control - a chance constrained stochastic MPC approach." Master's thesis, Pontificia Universidad Católica del Perú, 2017. http://tesis.pucp.edu.pe/repositorio/handle/123456789/8834.

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In recent years, there is a growing interest in the development of systems capable of performing tasks with a high level of autonomy without human supervision. This kind of systems are known as autonomous systems and have been studied in many industrial applications such as automotive, aerospace and industries. Autonomous vehicle have gained a lot of interest in recent years and have been considered as a viable solution to minimize the number of road accidents. Due to the complexity of dynamic calculation and the physical restrictions in autonomous vehicle, for example, determinist
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Al-Naumani, Yahya. "MPC for upstream oil & gas fields : a practical view." Thesis, University of Sheffield, 2017. http://etheses.whiterose.ac.uk/17979/.

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This work aims to improve corporate functional departments' confidence in adopting modern control approaches in new scenarios and thus presents control structure solutions based on model predictive control (MPC) for two control problems facing existing upstream oil and gas production plants. These are the disturbance growth in the series connected process and the control system dependency on operators. The suggested control solution integrates MPC as a master controller for the existing classical control of each subsystem, with a focus on those with high interaction phenomena. The proposed app
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Ludovico, Davide. "Robust dual adaptive MPC for output tracking of linear systems." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022.

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In this work, we present a novel robust dual adaptive model predictive control scheme for linear discrete-time systems with parametric uncertainty in the output and affected by a state-disturbance and a measurement noise. The proposed MPC framework promotes learning of the unknown parameters and in the meantime tracks a desired target output despite the presence of a state disturbance. This is possible through a suitable restriction of the state, input and output constraints that covers the whole possible range of the state disturbance. We prove that the proposed controller is practically stab
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Laurí, Pla David. "MPC: Relevant Identification and Control in the Latent Variable Space." Doctoral thesis, Universitat Politècnica de València, 2012. http://hdl.handle.net/10251/15178.

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Control predictivo basado en modelos (MPC) es una metodología de control ampliamente utilizada en la industria por su habilidad para controlar procesos multivariable con restricciones en sus entradas y sus salidas. Se distinguen dos fases en la implementación de MPC: identificación y control. El propósito de esta tesis es doble: realizar contribuciones en la identificación para MPC y proponer una nueva metodología de control MPC. La respuesta en bucle cerrado de una implementación de MPC depende, en gran medida, de la capacidad de predicción del modelo; luego la identificación del modelo es u
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Palma, Vryan Gil S. [Verfasser], and Lars [Akademischer Betreuer] Grüne. "Robust Updated MPC Schemes / Vryan Gil Palma. Betreuer: Lars Grüne." Bayreuth : Universität Bayreuth, 2015. http://d-nb.info/1071890077/34.

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Bärlund, Alexander. "Nonlinear MPC for Motion Control and Thruster Allocation of Ships." Thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-158493.

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Critical automated maneuvers for ships typically require a redundant set of thrusters. The motion control system hierarchy is commonly separated into several layers using a high-level motion controller and a thruster allocation (TA) algorithm. This allows for a modular design of the software where the high-level controller can be designed without comprehensive information on the thrusters, while detailed issues such as input saturation and rate limits are handled by the TA. However, for a certain set of thruster configurations this decoupling may result in poor control performance due to the l
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Sehlin, Olov. "Genetic algorithm tuning of artificial pancreas MPC with individualized models." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-76083.

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Diabetes is a growing chronic disease and a worldwide problem. Without any available cure in sight for the public other methods needs to be applied to increase the life quality of diabetic patients. Artificial Pancreas (AP), a concept of having a closed loop system to control the glucose level on Type 1 Diabetes (T1D) patients has been introduced and is under development. In this thesis, Model Predictive Control (MPC) has been re implemented from scratch in MATLAB/SIMULINK with associated Kalman filter and prediction function. It was implemented in the latest version of the UVA/Padova Simulato
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Hällerstam, Jonsson Linnea. "Fuel optimizing cruise controller with driveability." Thesis, KTH, Optimeringslära och systemteori, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-209680.

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This thesis work is based on a dynamic programming solution of a fuel optimizing cruise controller that was developed at Scania CV AB last year. Known data of the road ahead, mainly the slope, is used to continuously calculate the optimal torque and gear choices of a given moving vehicle for a certain horizon. The optimization calculations are based on fuel consumption and the vehicle's arrival time to the final destination. This report has been focused on achieving better "driveability" of the cruise controller while still maintaining the good fuel saving qualities that is already there. Simu
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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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Ekström, Mats. "Slutfasstyrning av missil med explicit prediktionsreglering." Thesis, Linköping University, Department of Electrical Engineering, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2750.

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<p>Arbetet har utförts på Saab Bofors Dynamics AB i Linköping och dess syfte är att undersöka möjligheten att applicera teorin för prediktionsreglering, Model Predictive Control (MPC), på guidance systemet i en missil av typen Medium Range Air-to-Air Missiles (MRAAM). Även implementering via Explicit MPC har undersökts. </p><p>I tidigare studier har det visat sig att den moderna slutfasstyrningsalgoritmen Linear Quadratic Augmented Proportional Navigation (LQAPN), som återkopplar missilens acceleration och rotation, uppvisar en bättre prestanda än de mer klassiska styrlagarna. Det främsta intr
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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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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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Sanchez-Rey, Roberto. "EKF-based parameter estimation for MPC applied to lateral vehicle dynamics." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-217296.

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Research about model-based techniques (MPC) applications for automotive drivingis nowadays experiencing an increasing interest thanks to improvements on hardwarecapabilities. Those allow for computationally heavy techniques as non-linear MPC is.MPC-based techniques rely on models of the controlled plant for predicting future state-space vectors. Such models are either not accurate enough for the purpose or affected byuncertainties, hence potentially causing a lack of robustness. By updating the predictionsmodel in run-time, learning-based MPC techniques are theoretically suitable to increasemo
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Chan, Wai Kuen. "Configurations in manufacturing planning and control (MPC) systems : manufacturing environment perspective." Thesis, Loughborough University, 2001. https://dspace.lboro.ac.uk/2134/7531.

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The quest for a viable manufacturing planning and control (MPQ system that supports organizational strategy is a crucial issue in operations management. Previous studies on MPC discipline have paid little attention on the basic performance differences that associated with strategic and organization environmental issues. This thesis addresses these issues by exploring the configurations in MPC systems in a macro perspective that integrates several areas, namely: organizational environment, competitive strategy, manufacturing strategy, supply chains, NIPC system and organizational performance. T
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