39,642 research outputs found
Adaptive Output Feedback Model Predictive Control
Model predictive control (MPC) for uncertain systems in the presence of hard
constraints on state and input is a non-trivial problem, and the challenge is
increased manyfold in the absence of state measurements. In this paper, we
propose an adaptive output feedback MPC technique, based on a novel combination
of an adaptive observer and robust MPC, for single-input single-output
discrete-time linear time-invariant systems. At each time instant, the adaptive
observer provides estimates of the states and the system parameters that are
then leveraged in the MPC optimization routine while robustly accounting for
the estimation errors. The solution to the optimization problem results in a
homothetic tube where the state estimate trajectory lies. The true state
evolves inside a larger outer tube obtained by augmenting a set, invariant to
the state estimation error, around the homothetic tube sections. The proof for
recursive feasibility for the proposed `homothetic and invariant' two-tube
approach is provided, along with simulation results on an academic system.Comment: 6 page
Robust adaptive MPC using control contraction metrics
We present a robust adaptive model predictive control (MPC) framework for
nonlinear continuous-time systems with bounded parametric uncertainty and
additive disturbance. We utilize general control contraction metrics (CCMs) to
parameterize a homothetic tube around a nominal prediction that contains all
uncertain trajectories. Furthermore, we incorporate model adaptation using
set-membership estimation. As a result, the proposed MPC formulation is
applicable to a large class of nonlinear systems, reduces conservatism during
online operation, and guarantees robust constraint satisfaction and convergence
to a neighborhood of the desired setpoint. One of the main technical
contributions is the derivation of corresponding tube dynamics based on CCMs
that account for the state and input dependent nature of the model mismatch.
Furthermore, we online optimize over the nominal parameter, which enables
general set-membership updates for the parametric uncertainty in the MPC.
Benefits of the proposed homothetic tube MPC and online adaptation are
demonstrated using a numerical example involving a planar quadrotor.Comment: This is the accepted version of the paper in Automatica, 202
A Robust Adaptive Dead-Time Compensator with Application to A Solar Collector Field
This paper describes an easy-to-use PI controller with dead-time compensation that presents robust behaviour and can be applied to plants with variable dead-time. The formulation is based on an adaptive Smith predictor structure plus the addition of a filter acting on the error between the output and its prediction in order to improve robustness. The implementation of the control law is straightforward, and the filter needs no adjustment, since it is directly related to the plant dead-time. An application to an experimentally validated nonlinear model of a solar plant shows that this controller can improve the performance of classical PID controllers without the need of complex calculations.Ministerio de Ciencia y Tecnología TAP95-37
Control of Solar Power Systems: a survey
9th International Symposium on Dynamics and Controlof Process Systems (DYCOPS 2010)Leuven, Belgium, July 5-7, 20109This paper deals with the main control problems found in solar power systems and the solutions proposed in literature. The paper first describes the main solar power technologies, its development status and then describes the main challenges encountered when controlling solar power systems.Ministerio de Ciencia y Tecnología DPI2008-05818Ministerio de Ciencia y Tecnología DPI2007-66718-C04-04Junta de Andalucía P07-TEP-0272
Control of a Solar Energy Systems
8th IFAC Symposium on Advanced Control of Chemical ProcessesThe International Federation of Automatic Control Singapore, July 10-13This work deals with the main control problems found in solar power systems and the solutions proposed in literature. The paper first describes the main solar power technologies, its development status and then describes the main challenges encountered when controlling solar power systems. While in other power generating processes, the main source of energy can be manipulated, in solar energy systems, the main source of power which is solar radiation cannot be manipulated and furthermore it changes in a seasonal and on a daily base acting as a disturbance when considering it from a control point of view. Solar plants have all the characteristics needed for using industrial electronics and advanced control strategies able to cope with changing dynamics, nonlinearities and uncertainties.Ministerio de Ciencia e Innovación PI2008-05818Ministerio de Ciencia e Innovación DPI2010-21589-C05-01/04Junta de Andalucía P07-TEP-0272
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