Distributed zonotopic set-membership state estimation based on optimization methods with partial projection

A distributed set-membership approach is proposed for the state estimation of large-scale systems. The uncertain system states are bounded in a sequence of the distributed set-membership estimators considering unknown-but-bounded system disturbances and measurement noise. In the framework of the set-membership approach, the measurement consistency test is implemented by nding parameterized intersection zonotopes. The size of the intersection zonotope is minimized by solving an optimization problem including a sequence of linear/bilinear matrix inequalities based on the weighted 2-norm criterion of the generator matrix. Meanwhile, for the distributed set-membership estimators, the partial projection method is considered to correct the estimation of the neighbor state. On the other hand, an on-line method is also provided. Finally, the proposed distributed set-membership approach is veried in a case study based on a urban drainage network.Postprint (author's final draft

Single-layer economic model predictive control for periodic operation

In this paper we consider periodic optimal operation of constrained periodic linear systems. We propose an economic model predictive controller based on a single layer that unites dynamic real time optimization and control. The proposed controller guarantees closed-loop convergence to the optimal periodic trajectory that minimizes the average operation cost for a given economic criterion. A priori calculation of the optimal trajectory is not required and if the economic cost function is changed, recursive feasibility and convergence to the new periodic optimal trajectory is guaranteed. The results are demonstrated with two simulation examples, a four tank system, and a simplified model of a section of Barcelona's water distribution network.Peer ReviewedPostprint (author’s final draft

Real-time implementation of MPC for tracking in embedded systems: application to a two-wheeled inverted pendulum

This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the expense of the addition of a small number of decision variables, which complicates the inner structure of the matrices of the optimization problem. We implement a sparse solver, based on an extension of the alternating direction method of multipliers, in the system’s embedded hardware. The results indicate that the solver is suitable for controlling a real system with sample times in the range of milliseconds using current, readily-available hardware.European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)DPI2016-76493-C3-1-RMinisterio de Ciencia, Innovación y Universidades. FPI-2017Agencia Estatal de Investigación. España PID2019-106212RB-C41/AEI/10.13039/50110001103

Control predictivo basado en datos

[Resumen] Este artículo presenta el diseño estabilizante de un controlador predictivo a partir únicamente de datos de entrada-salida de un sistema a controlar. El modelo que incluye este controlador es una función no lineal estimada usando una técnica de aprendizaje automático no paramétrica conocida como Kinky Inference. Como primeras pruebas en esta nueva línea de investigación, se diseñan y se prueban controladores en un reactor continuamente agitado, considerando las cuestiones necesarias para una correcta implementación práctica.Ministerio de Economía y Empresa; DPI2013-48243-C2-2-RMinisterio de Economía y Empresa; DPI2016-76493-C3-1-

Desarrollo de un Controlador Predictivo para Autómatas programables basado en la normativa IEC 61131-3

Jornadas de Automática (37ª. 2017. Gijón

Distributed zonotopic set-membership state estimation based on optimization methods with partial projection

A distributed set-membership approach is proposed for the state estimation of large-scale systems. The uncertain system states are bounded in a sequence of the distributed set-membership estimators considering unknown-but-bounded system disturbances and measurement noise. In the framework of the set-membership approach, the measurement consistency test is implemented by finding parameterized intersection zonotopes. The size of the intersection zonotope is minimized by solving an optimization problem including a sequence of linear/bilinear matrix inequalities based on the weighted 2-norm criterion of the generator matrix. Meanwhile, for the distributed set-membership estimators, the partial projection method is considered to correct the estimation of the neighbor state. On the other hand, an on-line method is also provided. Finally, the proposed distributed set-membership approach is verified in a case study based on a urban drainage network

Economic model predictive control with nonlinear constraint relaxation for the operational management of water distribution networks

This paper presents the application of an economic model predictive control (MPC) for the operational management of water distribution networks (WDNs) with periodic operation and nonlinear constraint relaxation. In addition to minimizing operational costs, the proposed approach aims to reduce the computational load and to improve the implementation efficiency associated with the nonlinear nature of the MPC problem. The behavior of the WDN is characterized by a set of difference-algebraic equations, where the relation of hydraulic pressure/head and flow in interconnected pipes is nonlinear. Specifically, the considered WDN model includes two categories of nonlinear algebraic equations for unidirectional and bidirectional flows in pipes, respectively. In this paper, we propose an iterative algorithm to relax these nonlinear algebraic equations into a set of linear inequality constraints that will be implemented in the economic MPC design, which improves the implementation efficiency and meanwhile optimizes the economic performance. Finally, the proposed strategy is applied to a well-known benchmark of the Richmond WDN. The closed-loop simulation results are shown and the proposed strategy is also compared with a nonlinear economic MPC using several key performance indexes.Peer Reviewe

Control predictivo basado en datos

[Resumen] En esta comunicación se presenta la implementación de un controlador predictivo basado en datos (DbPC) que permite resolver el problema de regulación de cualquier estado objetivo sobre un sistema cuyo modelo es desconocido. A diferencia de otras estrategias de control, ésta no usa un modelo, sino una base de datos para abordar el problema de regulación. En esta base de datos se almacena un histórico de las trayectorias llevadas a cabo por el sistema estudiado. Por último, el DbPC se implementa sobre un sistema real y con modelo conocido para un análisis y validación de los resultados obtenidos que se comparan con las diferentes estrategias de control que se han utilizado para generar la base de datos de este ejemplo.Trabajo financiado por el Ministerio de Economía y Competitividad a través del proyecto Estimación y Optimización Dinámica de la Eficiencia en Infraestructuras Críticas (DPI2013-48243-C2-2-R)https://doi.org/10.17979/spudc.978849749808

Modelo basado en optimización y bases de datos

[Resumen] En esta comunicación se aborda el problema de la identificación de sistemas por medio de la implementación de un modelo (MBD) basado en optimización y que usa una base de datos para predecir los estados futuros de un sistema. Este modelo predice un estado futuro a partir del comportamiento de los estados pasados recogidos en una base de datos resolviendo un problema de optimización. Esta base de datos recoge un histórico de las trayectorias llevadas a cabo por el sistema. Por último, se estudia el MBD sobre un sistema real y conocido analizándose luego los resultados en bucle abierto y bucle cerrado con las ecuaciones diferenciales del sistema.Trabajo financiado por el Ministerio de Economía y Competitividad a través del proyecto Estimación y Optimización Dinámica de la Eficiencia en Infraestructuras Críticas (DPI2013-48243-C2-2-R)https://doi.org/10.17979/spudc.978849749808

Distributed zonotopic set-membership state estimation based on optimization methods with partial projection

A distributed set-membership approach is proposed for the state estimation of large-scale systems. The uncertain system states are bounded in a sequence of the distributed set-membership estimators considering unknown-but-bounded system disturbances and measurement noise. In the framework of the set-membership approach, the measurement consistency test is implemented by nding parameterized intersection zonotopes. The size of the intersection zonotope is minimized by solving an optimization problem including a sequence of linear/bilinear matrix inequalities based on the weighted 2-norm criterion of the generator matrix. Meanwhile, for the distributed set-membership estimators, the partial projection method is considered to correct the estimation of the neighbor state. On the other hand, an on-line method is also provided. Finally, the proposed distributed set-membership approach is veried in a case study based on a urban drainage network