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The cross-directional model predictive control (CD-MPC) tuning problem is investigated for multiple-array paper-making process with parametric uncertainty. A systematic spatial tuning method is proposed to tune the penalty matrices such that the harmful high frequency elements in each actuator profile can be eliminated. A multivariable temporal filter is employed to adjust the output references, and a temporal tuning algorithm is developed for the filter parameters to achieve the pre-specified 2 σ performance indices. The computational time of the proposed methods is reduced via event-based sampling strategy. The effectiveness of the techniques is shown via a CD system from paper-making industry. [ABSTRACT FROM AUTHOR]

Nonholonomic constrained wheeled mobile robot (WMR) trajectory tracking requires the enhancement of the ground adaptation capability of the WMR while ensuring its attitude tracking accuracy, a novel dual closed-loop control structure is developed to implement this motion/force coordinated control objective in this paper. Firstly, the outer-loop motion controller is presented using Laguerre functions modified model predictive control (LMPC). Optimised solution condition is introduced to reduce the number of LMPC solutions. Secondly, an inner-loop force controller based on adaptive integral sliding mode control (AISMC) is constructed to ensure the desired velocity tracking and output driving torques by combining second-order nonlinear extended state observer (ESO) with the estimation of dynamic uncertainties and external disturbances during WMR travelling process. Then, Lyapunov stability theory is utilised to guarantee the consistent final boundedness of the designed controller. Finally, the system is numerically simulated and practically verified. The results show that the double-closed-loop control strategy devised in this paper has better control performance in terms of complex trajectory tracking accuracy, system resistance to strong interference and computational timeliness, and is able to realise effective coordinated control of WMR motion/force. [ABSTRACT FROM AUTHOR]

In this paper, a new model predictive control termed as intelligent model predictive control (IMPC) combined with an improved new competitive swarm optimizer (CSO) is designed. The analytical predictive model is not necessarily established a priori in the proposed IMPC algorithm, and the control plant can be used directly as the predictive model to reduce the complexity of the algorithm. In addition, two new techniques, dynamic initialization and back steps methods, are proposed and utilized to improve the traditional CSO to realize constraints management during the optimization process. An application to aeroengine transient-state control is studied to verify the effectiveness of the presented IMPC algorithm. It is shown that, benefitting from the IMPC algorithm, the control task is well completed and all the constraints are satisfied. Practical Applications: This paper proposes a new optimization algorithm to solve some complex optimization problems with constraints. The designed new optimization algorithm is simple and easy to implement and it is more suitable for applications with black-box models or complex optimization objective functions compared with some existing optimization algorithms. This paper may provide some help to researchers who are interested in model predictive control or metaheuristic algorithms and to people whose work contains some complex optimization problems. This paper also provides a design method of aeroengine transient-state control plans. The simulation results showed that compared with some existing control methods or optimization algorithms, the aeroengine could accelerate to the desired steady-state point with shorter transient time and all constraints are satisfied when utilizing the proposed new optimization algorithm. [ABSTRACT FROM AUTHOR]

This paper solves the controller tuning problem of machine-directional predictive control for multiple-input–multiple-output (MIMO) paper-making processes represented as superposition of first-order-plus-dead-time (FOPDT) components with uncertain model parameters. A user-friendly multi-variable tuning problem is formulated based on user-specified time domain specifications and then simplified based on the structure of the closed-loop system. Based on the simplified tuning problem and a proposed performance evaluation technique, a fast multi-variable tuning technique is developed by ignoring the constraints of the MPC. In addition, a technique to predict the computation time of the tuning algorithm is proposed. The efficiency of the proposed method is verified through Honeywell real time simulator platform with a MIMO paper-making process obtained from real data from an industrial site. [ABSTRACT FROM AUTHOR]

Effective nonlinear control of manipulators with dynamically coupled arms, like those with direct drives, is the subject of the paper. Model-based predictive control (MPC) algorithms with nonlinear state-space models and most recent disturbance attenuation technique are proposed. This technique makes controller design and online calculations simpler, avoiding necessity of dynamic modeling of disturbances or resorting to additional techniques like SMC. The core of the paper are computationally effective MPC-NPL (Nonlinear Prediction and Linearization) algorithms, where computations at every sample are divided into two parts: prediction of initial trajectories using nonlinear model, then optimization using simplified linearized model. For a comparison, a known CTC-PID algorithm, which is also model-based, is considered. It is applied in standard form and also proposed in more advanced CTC-PID2dof version. For all algorithms a comprehensive comparative simulation study is performed, for a direct drive manipulator under disturbances. Additional contribution of the paper is investigation of influence of sampling period and of computational delay time on performance of the algorithms, which is practically important when using model-based algorithms with fast sampling. [ABSTRACT FROM AUTHOR]

The tracking of optimal current trajectories in an interior permanent magnet (IPM) synchronous machine is traditionally realized by a complex online tracking, inaccurate analytical equations, or tiresome offline calibration methods. This paper proposes a modified hybrid feed-forward/feedback flux-weakening algorithm for IPM synchronous machines. In this paper, the utilized power converter is a standard T-type multilevel inverter, and hence, the voltage and current harmonics contents of the conventional two-level inverter are improved. The control algorithm utilizes the optimal current profile for maximum torque per ampere (MTPA) operation and a voltage regulation (VR) feedback control for efficient flux-weakening operation. For infinite-speed IPM machine drives, the d-q current components are limited to follow the maximum torque per voltage (MTPV) trajectory. A low-complexity model predictive control (MPC) is employed to minimize the conflict that arises from using cascaded PI control loops for current and speed control. The performance of the drive is investigated based on the Prius 2004 IPM parameters. Extensive simulation scenarios were performed using the MATLAB/SIMULINK which validates the effectiveness of the proposed algorithm. Real-time simulations based on the dSPACE DS 1103 platform are conducted to confirm the system validity for real hardware implementation. The proposed IPM drive system proves simple structure, fast response, and low harmonic contents. [ABSTRACT FROM AUTHOR]

This paper presents a centralized disturbance suppression strategy for distributed drive electric vehicles which is based on model predictive direct motion control. This strategy is capable of addressing issues such as parameter uncertainties and external disturbances in vehicles. Firstly, the paper provides a brief introduction to model predictive direct motion control. Secondly, it analyzes the impact of vehicle parameter uncertainties and external disturbances on the mathematical model. Finally, a centralized disturbance suppression strategy based on a sliding mode observer is proposed. Simulation results demonstrate that this strategy exhibits excellent disturbance rejection capabilities. [ABSTRACT FROM AUTHOR]

The time-varying delay is a peculiar phenomenon that occurs in almost all systems. It can cause numerous problems and instability during system operation. In this paper, the time-varying delay is considered in both the states and input vectors, which is a significant distinction between the proposed method here and previous algorithms. Furthermore, the time-varying delay is unknown but bounded. To address this issue, the Razumikhin approach is applied to the proposed method, as it incorporates a Lyapunov function with the original non-augmented state space of the system models, in contrast to the Krasovskii formula. Moreover, the Razumikhin method performs better and avoids the inherent complexity of the Krasovskii method, particularly when dealing with large delays and disturbances. For achieving output stabilization, the model predictive control (MPC) is designed for the system. The considered system in this paper is an interval type-2 (IT2) fuzzy T-S model, which provides a more accurate estimation of the dynamic model of the system. The online optimization problems are solved using linear matrix inequalities (LMIs), which reduces the computational burden and online computational costs compared to offline and non-LMI approaches. Finally, an example is provided to illustrate the effectiveness of the proposed approach. [ABSTRACT FROM AUTHOR]

The wind power generation system of a 5 MW horizontal axis wind turbine has a high wind energy conversion efficiency. The proportion of installed capacity in practical production applications is increasing year on year, so that the stability of its operation becomes a central factor in determining the productivity of the wind farm in question. This paper takes a 5 MW wind turbine as the research object and proposes a parameter‐adaptive robust model predictive control method to achieve self‐optimization of controller parameters through a Bayesian optimization approach. A robust model predictive control strategy, aiming to reduce the power fluctuation while maximizing the power output, is developed in this paper to enhance the dynamic economic performance under uncertain wind speed variation. A Bayesian algorithm is used in this paper to optimize the parameters of the controller. Moreover, wind speeds are simulated using TurbSim for different turbulence intensities of 5%, 10%, and 15% turbulence. Finally, the robust model predictive control toolbox in MATLAB is designed and simulated. The results show that the operational instability of the wind energy system is overcome. Meanwhile, the robustness of the wind energy system operation is improved compared to the traditional model predictive control approach. [ABSTRACT FROM AUTHOR]

When humanoid robots work in human environments, they are prone to falling. However, when there are objects around that can be utilized, humanoid robots can leverage them to achieve balance. To address this issue, this paper established the state equation of a robot using a variable height-inverted pendulum model and implemented online trajectory optimization using model predictive control. For the arms' optimal joint angles during movement, this paper took the distributed polygon method to calculate the arm postures. To ensure that the robot reached the target position smoothly and rapidly during its motion, this paper adopts a whole-body motion control approach, establishing a cost function for multi-objective constraints on the robot's movement. These constraints include whole-body dynamics, center of mass constraints, arm's end effector constraints, friction constraints, and center of pressure constraints. In the simulation, four sets of methods were compared, and the experimental results indicate that compared to free fall motion, adopting the method proposed in this paper reduces the maximum acceleration of the robot when it touches the wall to 69.1 m/s2, effectively reducing the impact force upon landing. Finally, in the actual experiment, we positioned the robot 0.85 m away from the wall and applied a forward pushing force. We observed that the robot could stably land on the wall, and the impact force was within the range acceptable to the robot, confirming the practical effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

Summary: The LC filter integrated quasi‐Z source indirect matrix converter (QZS‐IMC) filters the input voltages and currents while highly expanding voltage boost ratio through the combined QZS network, avoiding the additional input filter while maintaining full‐silicon solution. The traditional proportional‐integral (PI) control method of IMC is realized through the PI regulators with pulse width modulation (PWM), which is complicated due to elaborated vectors computation and duty cycle composition of IMC and extra control loops design is mandatory. This paper proposes a model predictive control (MPC) for the LC filter integrated QZS‐IMC. Based on the established discrete models of circuit voltages and currents, the proposed control method measures the present circuit variables and predicts the variables in the next sampling period. Then, a predefined cost function is evaluated with the predictions and references at each active switching states of the IMC. An optimal switching state that ensures the smallest value of the cost function is applied to the power devices at the beginning of next sampling time. Simulation and experiment are carried out to demonstrate effectiveness of the proposed MPC for the LC filter integrated QZS‐IMC. [ABSTRACT FROM AUTHOR]

The track tracking effect of intelligent vehicle directly affects the safety of vehicle and passengers. In the process of intelligent vehicle track tracking, the track tracking accuracy is related to many factors such as track curvature, road friction coefficient, and longitudinal speed change. In this paper, a new lateral and longitudinal coupling control algorithm is proposed. Based on the vehicle dynamics model and the optimal control theory, combined with the fuzzy control theory, the Fuzzy Linear Quadratic Regulator (FLQR) lateral optimal controller is designed, and feed-forward control and predictive controller are added. According to the real-time tracking lateral error and fuzzy control algorithm fed back by the system, the weight coefficient of the lateral displacement deviation in the cost function is dynamically adjusted; considering the coupling effect of lateral and longitudinal controllers of vehicle trajectory tracking control, a model predictive control (MPC) longitudinal speed controller is designed based on MPC theory, considering acceleration constraint and acceleration variation constraint, and taking lateral stability as evaluation index. A joint simulation platform is built based on CarSim and Simulink. The simulation results show that the designed lateral and longitudinal coupling controller of FLQR + MPC has better track tracking accuracy and can improve the driving stability of the vehicle; finally, the tracking effect of the designed algorithm is verified by real vehicle experiments. The maximum error of the designed controller algorithm in real vehicle tracking is 0.56 m, and the tracking effect is good. [ABSTRACT FROM AUTHOR]

In this paper, a robust control method is introduced for autonomous vehicle control in different scenarios. Dual controllers have been used in this method to ensure high performance and low errors during the vehicle’s trip. The new control system is called Model Predictive and Stanley based controller (MPS), which is an integration of a model predictive controller and a Stanley controller. Each of these two controllers has its drawbacks and weaknesses. The proposed method tries to overcome these points and come up with a high-performance control system. This hybrid way of combining two of the famous controllers has the benefit of using the best part of each one and trying to enhance the other part. The MPS is tested for both path-following and vehicle control in different scenarios and on both straight and curved roads. This controller has shown high performance and flexibility to deal with different scenarios of autonomous driving. The results are compared to previous types of controllers, and the proposed system outperformed these types. [ABSTRACT FROM AUTHOR]

In response to the fact that autonomous vehicles cannot avoid obstacles by emergency braking alone, this paper proposes an active collision avoidance method for autonomous vehicles based on model predictive control (MPC). The method includes trajectory tracking, adaptive cruise control (ACC), and active obstacle avoidance under high vehicle speed. Firstly, an MPC-based trajectory tracking controller is designed based on the vehicle dynamics model. Then, the MPC was combined with ACC to design the control strategies for vehicle braking to avoid collisions. Additionally, active steering for collision avoidance was developed based on the safety distance model. Finally, considering the distance between the vehicle and the obstacle and the relative speed, an obstacle avoidance function is constructed. A path planning controller based on nonlinear model predictive control (NMPC) is designed. In addition, the alternating direction multiplier method (ADMM) is used to accelerate the solution process and further ensure the safety of the obstacle avoidance process. The proposed algorithm is tested on the Simulink and CarSim co-simulation platform in both static and dynamic obstacle scenarios. Results show that the method effectively achieves collision avoidance through braking. It also demonstrates good stability and robustness in steering to avoid collisions at high speeds. The experiments confirm that the vehicle can return to the desired path after avoiding obstacles, verifying the effectiveness of the algorithm. [ABSTRACT FROM AUTHOR]

The crucial issue of supervising and managing electrical energy in the context of aircraft electrification, known as More-Electric Aircraft (MEA), is addressed in this paper. In the pursuit of developing energy-efficient solutions with reduced environmental impact, this research contributes valuable insights into innovative control strategies crucial for advancing aircraft electrification technologies. Through optimization techniques, the management of energy aims to maximize the proposed objectives. With a focus on controlling battery power for charging, discharging, and load shedding, this study employs Model Predictive Control (MPC) alongside an optimizer solving a mixed-integer linear programming (MILP) problem. Constraints encompass various aspects, including battery charging, maximum generator power, battery absorption, discharge limits, and converter power limitations. Theoretical results and detailed simulations demonstrate the effectiveness of the proposed approach in finding a good compromise among the objectives subjected to the system constraints. Practical validation of the proposed approach is conducted through the European project ORCHESTRA, utilizing comprehensive system simulations in Matlab/Simulink (2022b). [ABSTRACT FROM AUTHOR]

Model predictive control (MPC) performance depends on the accuracy of the system model. Moreover, the optimization algorithm of MPC requires numerous online computations. These inherent limitations of MPC hinder its application in power electronics systems. This paper proposes a two-part solution for these challenges for a three-phase inverter with an output LC filter. The first part of the control scheme is a linear and modified model-free approach based on the auto-regressive structure (ARX) with exogenous input. The second part is the computationally efficient optimization algorithm based on the active set method to solve the optimization problem of the MFPC. The objective of the control scheme is to regulate the output voltages of the inverter in the presence of constraints. The constraints are the maximum admissible filter current and optimal duty cycle to avoid any damage to the system. To validate the performance of the proposed control scheme, simulations and hardware-in-loop (HIL) real-time investigations have been performed, comparing the results of the proposed approach with the model-based predictive control. The results showcase the computational efficiency and effectiveness of the MFPC approach, demonstrating its potential for overcoming the limitations of traditional MPC in power electronics systems. [ABSTRACT FROM AUTHOR]

Unexpected tire blowout on expressway is one of the most dangerous scenarios for heavy load multi-axle trucks, especially under the inexperienced driver's improper intervention. To this end, this paper proposes an autonomous tire blowout controller for three-axle trucks based on model predictive control (MPC) method. First of all, aiming at balancing the computing load and the path-tracking accuracy, an equivalent chassis is transformed based on the stable two-dimensional vehicle dynamic model. Second, a tire blowout–oriented vehicle high-fidelity dynamic model is established based on the equivalent chassis, in which the vehicle lateral, yaw, and roll motions are all considered at the same time. Then, an MPC-based dynamic control strategy is proposed to achieve effective tire blowout suppression with the consideration of vehicle rollover stability. Afterward, a transient vertical tire force shock is employed to simulate the real tire blowout behavior, on which two typical scenarios are constructed based on the TruckSim–Simulink co-simulation platform. The simulation results illustrate the feasibility and effectiveness of the proposed method. In two different dangerous tire blowout conditions, the lateral load transfer rate (LTR) value of the vehicle is reduced by 3.45% and 40.87%, respectively, while the trajectory tracking error is reduced at the same time. [ABSTRACT FROM AUTHOR]

This paper proposes an event-triggered model predictive-preview control strategy for autonomous vehicle trajectory tracking. First, the dynamic equation is established based on the preview road curvature and the vehicle's 2 degree-of-freedom relationship. A model predictive tracking controller is designed by predicting the system dynamics in the future. Second, to reduce the computational burden of the controller, the triggering conditions are designed according to the system's stability and feasibility. The proposed event-triggered model predictive-preview control strategy not only makes the autonomous vehicles maintain tracking accuracy but also reduces the number of online optimization. Then, asymptotically stable of closed-loop systems are proved by using Lyapunov's theorem. Finally, simulation experiments show that the proposed strategy has some advantages over traditional model predictive control in terms of improving vehicle tracking accuracy and reducing algorithm complexity. [ABSTRACT FROM AUTHOR]

In this paper, we propose an event-triggered dual-mode predictive control strategy to deal with two-channel packet dropouts for discrete-time constrained nonlinear networked control systems. The main focus is on the construction of network compensation mechanisms and control algorithms. Firstly, two types of novel event generators are set, respectively, in sensor node and controller node to reduce resource consumption while preserving the desired system performance. In order to establish corresponding event-triggering conditions, two special states, successful transmitted states and reconstructed states, are introduced. Subsequently, a dual-mode control scheme, where the switch of modes depends on reconstructed states, is designed. The recursive feasibility of optimization problems is ensured by determining relationships between actual states and reconstructed states. By constructing actual control laws under two system modes, the stability property of closed-loop systems is guaranteed. Furthermore, effects of packet dropouts and disturbances on system performance are analyzed. At last, the efficiency of the proposed control strategy is illustrated by a cart-damper-spring simulation example. [ABSTRACT FROM AUTHOR]

Aiming at the current power control problems of grid-side electrochemical energy storage power station in multiple scenarios, this paper proposes an optimal power model prediction control (MPC) strategy for electrochemical energy storage power station. This method is based on the power conversion system (PCS) grid-connected voltage and current to establish a power prediction model for energy storage power stations, achieving a one-step prediction of the power of the power station. The power prediction error is used as a power regulation feedback quantity to correct the reference power input. Considering the state of charge ( S O C ) constraint of the battery, partition the S O C into different states. Using S O C as the power regulation feedback, the power of the battery compartment can be adjusted according to the range of the battery S O C to prevent S O C from exceeding the limit value, simultaneously calculating the power loss of the energy storage power station to improve the energy efficiency. The objective function is to minimize the power deviation and power loss of the power station. By solving the objective function, the optimal switching voltage vector of the converter output is achieved to achieve optimal power control of the energy storage power station. The simulation results in various application scenarios of the energy storage power station show that the proposed control strategy enables the power of the storage station to quickly and accurately track the demand of grid scheduling, achieving the optimal power control of the electrochemical energy storage power station. [ABSTRACT FROM AUTHOR]

In the context of increasing energy demands and the integration of renewable energy sources, this review focuses on recent advancements in energy storage control strategies from 2016 to the present, evaluating both experimental and simulation studies at component, system, building, and district scales. Out of 426 papers screened, 147 were assessed for eligibility, with 56 included in the final review. As a first outcome, this work proposes a novel classification and taxonomy update for advanced storage control systems, aiming to bridge the gap between theoretical research and practical implementation. Furthermore, the study emphasizes experimental case studies, moving beyond numerical analyses to provide practical insights. It investigates how the literature on energy storage is enhancing building flexibility and resilience, highlighting the application of advanced algorithms and artificial intelligence methods and their impact on energy and financial savings. By exploring the correlation between control algorithms and the resulting benefits, this review provides a comprehensive analysis of the current state and future perspectives of energy storage control in smart grids and buildings. [ABSTRACT FROM AUTHOR]

Aerodynamic forces hold significant promise for controlling small-satellite formations in low Earth orbit. However, significant challenges still exist regarding complex input constraints and their application to multi-satellite formations. This paper proposes a constraint tightening-based control scheme for small-satellite formations, utilizing differential drag and lift as actuating forces. Two attitude adjustment strategies, namely the reorientation strategy and the single-radial rotation strategy, are compared in terms of their control effectiveness and applicability. Relative aerodynamic coefficients are employed as control inputs in view of their solid reachable region, followed by the development of a decoupling algorithm for determining pointing angles. Through a method that tightens the reachable region using liner models, the input constraints are linearized and can be explicitly expressed. Subsequently, an observer-based Model Predictive Control (MPC) algorithm is formulated to meet these linearized input constraints and provide feedforward compensation for system disturbances. This discrete algorithm enables practical onboard implementations owing to its low computational complexity. Additionally, a concept of overall computation for all satellites' attitudes is proposed to adapt the control scheme for multi-satellite formations. Hardware-in-the-loop simulations are conducted to evaluate the control scheme's performance in along-track and circular formations, accounting for uncertainties in aerodynamic forces and attitude dynamics. [ABSTRACT FROM AUTHOR]

In this study, model predictive control (MPC) was considered for a class of discrete time-delay systems with external disturbances. Equivalent input disturbance (EID) is a commonly utilized active disturbance rejection technique that enhances the rejection of system disturbances. Any disturbance can be effectively suppressed using the EID approach, leaving no traces of the disturbance. This paper proposes a novel MPC control approach that combines the EID method with the MPC principle. An MPC law with disturbance-rejection performance was presented after obtaining and combining the EID estimates with performance indicators using the EID method. Optimizing the performance index is then converted into a semi-definite problem comprising of an objective function and linear matrix inequality through building a Lyapunov function. Based on this basis, an MPC design algorithm is proposed. A numerical simulation was conducted to confirm superiority and efficacy of the proposed method. [ABSTRACT FROM AUTHOR]

This paper presents a novel, state-of-the-art predictive control architecture that addresses the computational complexity and limitations of conventional predictive control methodologies while enhancing the performance efficacy of predictive control techniques applied to three-level voltage source converters (NPC inverters). This framework's main goal is to decrease the number of filtered voltage lifespan vectors in each sector, which will increase the overall efficiency of the control system and allow for common mode voltage reduction in three-level voltage source converters. Two particular tactics are described in order to accomplish this. First, a statistical approach is presented for the proactive detection of potential voltage vectors, with an emphasis on selecting and including the vectors that are most frequently used. This method lowers the computational load by limiting the search space needed to find the best voltage vectors. Then, using statistical analysis, a plan is presented to split the sectors into two separate parts, so greatly limiting the number of voltage vectors. The goal of this improved predictive control methodology is to reduce computing demands and mitigate common mode voltage. The suggested strategy's resilience is confirmed in a range of operational scenarios using simulations and empirical evaluation. The findings indicate a pronounced enhancement in computational efficiency and a notable diminution in common mode voltage, thereby underscoring the efficacy of the proposed methodology. This increases their ability to incorporate renewable energy sources into the electrical grid. [ABSTRACT FROM AUTHOR]

Model predictive control (MPC) is recognized as an efficient control method for the modular multilevel converter (MMC), owing to its advantages, such as good robustness, rapid dynamic response, and multi-objective control. However, due to the coupling relationship between the ac-side current and the circulating current, the existing MPC has an impact on the ac-side current while suppressing the circulating current. In this paper, the relationship between the ac-side current performance and circulating current suppression is discussed in detail, and a three-stage MPC (TS-MPC) strategy is proposed to optimize the comprehensive performance. With the ac-side current control, circulating current control, and comprehensive optimization control, the optimum performance of both the ac-side current and circulating current suppression is realized while maintaining a low computational burden. Moreover, a grouping sorting algorithm is designed to reduce the calculation burden and to balance the capacitor voltages. The steady-state and transient performances of the proposed TS-MPC strategy have been verified by experimental results, which validates its correctness and effectiveness. [ABSTRACT FROM AUTHOR]

This paper proposes a novel stable economic model predictive control (EMPC) strategy for constrained nonlinear systems with changing economic criteria. The traditional EMPC may lead to infeasibility and even instability of the closed-loop system when the criterion has been changed. Firstly, a generalised terminal constraint is introduced to ensure the recursive feasibility of the economic optimisation problem, which enforces the terminal states to converge to an arbitrary equilibrium state rather than a predetermined fixed one at the initial time. Then the stability constraint is constructed by solving an auxiliary optimisation problem online, which is the key to guaranteeing the asymptotic stability of the closed-loop system. Finally, sufficient conditions for feasibility and asymptotic stability are derived in the context of changing economic criteria. The main feature of the proposed strategy is that it does not need to know the changes of economic criterion in advance, and its properties and effectiveness are exemplified by simulations on a nonlinear chemical process example. [ABSTRACT FROM AUTHOR]

Summary: To enhance the efficiency and prolong the battery life of hybrid energy systems equipped with battery and supercapacitor for a pure electric loader, this paper proposes a real‐time energy management strategy based on model predictive control (MPC). First, the working characteristics of the loader and the topology structure of the hybrid energy are analyzed. Second, considering the repetitive operation model of electric loaders, a neural network algorithm based on long short‐term memory is used to predict power and a dynamic programming algorithm is used as the rolling optimization solution for MPC strategy. Finally, the MPC is verified using the simulation in MATLAB/Simulink. The results indicate that compared with other strategies, the MPC strategy can improve hybrid energy efficiency and reduce the maximum battery current fluctuations. The proposed method demonstrates the feasibility and effectiveness of the hybrid energy system. [ABSTRACT FROM AUTHOR]

• A model-based approach is proposed for the design synthesis of autonomous articulated vehicles. • The dynamically coupled subsystems of an autonomous vehicle are devised and evaluated simultaneously. • A prediction vehicle model for articulated vehicles is developed. • The effectiveness of the proposed approached is demonstrated by numerical simulations. • The results presented in the paper may be used as guidelines for devising autonomous articulated vehicles. In conventional autonomous vehicle designs, the mechanical system is first devised, and the automated driving systems are subsequently added. The conventional method can be categorized as a sequential design approach. An autonomous vehicle consists of the subsystems of mechanical assembles, automated driving, etc. There exist dynamic couplings among these subsystems, and the sequential design method may not be the most effective. This observation initiates the motivation of this research, and the objective of this paper is thus to explore a more effective design method for autonomous vehicles and, in particular, autonomous articulated vehicles. To this end, this paper proposes a model-based design synthesis method, i.e., a concurrent design method, for autonomous articulated vehicles. The autonomous articulated vehicle assumes to be composed of the subsystems of a mechanical unit, a trajectory tracking-controller based on a model predictive control technique, and a motion-planner. The design synthesis of the autonomous articulated vehicle is constructed as a bi-level optimization problem. With the proposed concurrent design approach, the subsystems are optimally devised simultaneously. To examine the proposed approach, it is applied to the design of a car-trailer combination with automated steering. The insightful findings attained from the study may be used as guidelines for developing autonomous articulated vehicles. [ABSTRACT FROM AUTHOR]

This paper proposes a novel energy management strategy satisfying real-time and highly efficient energy management strategies for fuel cell hybrid electric vehicles (FCHEVs). The strategy is based on model predictive control (MPC), which integrates long short-term memory (LSTM) and dynamic programming (DP). A high-precision powertrain model of the investigated FCHEV is established for subsequent simulations. After training under several typical working conditions, LSTM is designed to forecast future power demands of the entire vehicle. Using the prediction results, the DP algorithm calculates the control scheme based on model predictive control. Considering the economy and durability of power sources, the results of four different control strategies are compared: thermostat, power following, traditional DP, and MPC. The MPC proposed in this paper reduces the total usage cost per 100 km on the test set by 9%, 33.5%, and −4.6%. • The economy and durability of vehicular fuel cell system are both considered. • The LSTM neural network is imported into MPC theory for vehicular power prediction. • The key parameters of MPC and LSTM are determined by referring to the greedy algorithm. • The computational load in MPC optimisation is reduced by simplifying DP algorithm. • The real-time performance of the supposed EMS on-board is validated. [ABSTRACT FROM AUTHOR]

The anti-disturbance control of quadrotor attitude tracking under saturation constraints is a difficult problem. In this paper, a neural network-based model predictive controller for quadrotor systems with input saturation and external disturbances is developed. The unmodeled dynamics and external disturbances of the system are simplified to the disturbance superimposed on the nominal system, and the gradient descent neural networks are used to complete the estimation and compensation of the disturbance. The adaptive model predictive controller is designed based on the nominal system. The disturbance value estimated by the neural network adaptively adjusts the control constraints in the model predictive controller. The robustness and anti-disturbance of the designed controller are analyzed. The experiments show that, compared to the robust model predictive control, the algorithm proposed in this paper reduces the steady-state mean errors of the yaw, pitch, and roll attitude channels of the Hover system. Specifically, the algorithm results in a decrease of 2.622%, 2.292%, and 1.192% without external disturbances and 2.056%, 4.17%, and 0.956% with outside disturbances. Experimental results confirm the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

Fuel cell hybrid electric vehicles (FCHEV) are one of the most promising new energy vehicles. The cost and lifetime of its powertrain have limited its commercial development. This paper proposed an energy management strategy based on nonlinear model predictive control (NMPC) technology to solve the economy and durability problem of FCHEVs. Based on Markov Monte Carlo(MCMC) method, a prediction model of multi-scale operating conditions is established, and dynamic programming(DP) is used to realize the optimal control in the predicted time domain. The "constant speed prediction" is innovatively adopted in the transition stage to improve the prediction accuracy and enable the model to be realized online. The ways to reduce calculating amount of NMPC are also discussed in this paper. This simplification leads to suboptimal fuel economy and durability of control system but can have obvious reduction in calculating time. The simulation results show that, compared with the thermostat strategy and the power following strategy, the degradation cost decrease of 11.1% and 23.9% and the total operation cost of NMPC decrease of 11.0% and 23.5% respectively. The NMPC strategy has better economy and durability than the rule-based energy management strategy, is close to the global optimal result obtained by dynamic programming and can meet the requirements of real-time control. • The economy and durability of vehicular fuel cell system are both considered. • Markov Chain Monte Carlo is imported into MPC theory for vehicular power prediction. • Adaptability to changing conditions is strengthened via "constant speed prediction". • The computational load in MPC optimization is reduced by simplifying DP algorithm. [ABSTRACT FROM AUTHOR]

The modern headbox has many attributes that are highly significant for all paper-makers. Uniformity of flow, absence of streaks and large eddies, headbox stability and ease of operation are required features for all paper grades. Consistency in a headbox is a very important parameter in paper mills in their various stages of operations. Without the knowledge of consistency, it is not possible to optimize productivity with optimal quality. In the present study, a multivariable, linearized, state space model of a paper machine headbox was selected for control of consistency and liquid level in the headbox of a paper machine using the advanced control strategy Model Predictive Control (MPC). MPC uses a model to predict the process output along a future time horizon. It performs the calculation of a control sequence to optimize a performance index. It is based on receding horizon strategy so that at each instant the horizon is moved towards the future, involving the application of the first control signal of the sequence, calculated at each step. [ABSTRACT FROM AUTHOR]

The increasing space debris population in critical orbits due to spacecraft failure dictates the need for action. On-Orbit Servicing (OOS) has been proposed as a method for mitigating this trend by repairing existing space assets. The development of large servicing spacecraft has been given significant attention. In this paper, we are approaching the problem with a new paradigm for a servicing spacecraft by proposing a CubeSat class servicer equipped with a one-degree-of-freedom (DoF) robotic arm. Considering the OOS context, we choose the Orbital Replacement Unit (ORU) installation on a target spacecraft as a challenging benchmark task for the proposed servicer configuration. To carry out this task, we formulate and compare performance of four controllers to achieve coordinated control of both the CubeSat and the robotic arm for the installation task. We start with a basic PD controller and progress to the more advanced impedance controller, Model Predictive Control (MPC) and Model Predictive Impedance Control (MPIC) designs. The controllers are evaluated and compared across several relevant metrics for the ORU installation and their merits for practical implementation are discussed. • Comparative analysis of model-based controllers against traditional control methods. • Monte Carlo simulations used to test robustness of the controllers. • Novel, mechanically simple CubeSat servicer for simulated ORU installation. • MPC, PD controllers show similar success rates, MPC requires higher control efforts. [ABSTRACT FROM AUTHOR]

In this paper, a single objective variable double voltage vector model predictive control (SOV‐DVVMPC) to lower the computational burden for single‐phase cascaded H‐bridge (CHB) converters is proposed. The proposed algorithm is based on a hierarchical structure to control the grid‐connected current and capacitor voltage without a weighting factor. Firstly, layer I controls the grid‐connected current to select the optimal region, the cost function related to the voltage region is designed and the optimal state is calculated directly by analyzing the linear relationship between the divided region and its adjacent voltage levels, which can reduce the computational burden. Correspondingly, the optimal vectors are symmetrically distributed over the entire control cycle by a modulation principle, fulfilling the fixed switching frequency (FSF) of the system. Then, layer II uses redundant switching states to maintain capacitor voltage balancing. Finally, a single‐phase CHB converter experiment setup is constructed, the results show that compared with DVV‐MPC, the execution time of SOV‐DVVMPC is reduced by 26.4%, and compared with traditional MPC, the switching frequency is fixed and the output current quality is improved. [ABSTRACT FROM AUTHOR]

A combined steering and braking collision avoidance control method based on model predictive control is proposed in the present paper. This method can overcome the limitations of single steering or braking collision avoidance and improve vehicle safety and tracking performance in extremely complex conditions. The utilization rate of tire force, path tracking performance, and driving stability are considered in the design of the model predictive control (MPC) optimization objective. In addition, the front wheel angle and four-wheel braking torque are taken as the optimization variables. Simulation results showed that the proposed method can greatly improve the path tracking performance and driving stability of vehicles. [ABSTRACT FROM AUTHOR]

In this paper, we propose the design of a robust control strategy for the trajectory tracking problem in perturbed unicycle mobile robots. The proposed strategy comprises the design of a robust control law, which is based on an Integral Sliding‐Mode Control (ISMC) approach together with an interval predictor‐based state‐feedback controller through a Model Predictive Control (MPC) scheme. The robust controller deals with some perturbations in the kinematic model, which represent slipping effects, and with state and input constraints that are related to restrictions on the workspace and saturated actuators, respectively. The proposed approach guarantees the exponential convergence to zero of the tracking error. The performance of the proposed approach is validated through some simulations tracking a lemniscate and a circumference curve. [ABSTRACT FROM AUTHOR]

Voltage instability in power systems arises due to the shortage of reactive power and may cause abnormally low bus voltages leading to a partial or complete blackout. In order to maintain the system voltages within a safe limit, voltage control techniques such as shunt capacitor banks, Static VAR Compensators (SVCs), load shedding, and transformer tap-changer blocking, are employed. In this paper, a novel receding-horizon Model Predictive Control (MPC)-based voltage controller is proposed, which, by optimally controlling generator reactive power and SVC output, maintains the voltage stability of a power system. For this, a sensitivity-based analysis is performed to design a state-space model of the power system. The frequency and voltage dependency of load and generation are considered in the system equations. The voltage control is done step-wise, and the optimal control action in each step is calculated by minimizing a cost function subject to a set of relevant constraints. Different Voltage Stability Indices (VSIs) are used as a measure of voltage stability and also used in the constraints for the optimization problem. The performance of the proposed controller is evaluated on IEEE 9-, 39- and 118-bus systems, considering different types of loads and contingencies. [ABSTRACT FROM AUTHOR]

This study examines the use of data-driven controllers for near real-time control of an HVAC and storage system in a residential building. The work is based on a two-stage management with, first, a day-ahead optimal scheduling, and second, a near real-time adaptive control to remain close to the commitments made in the first stage. A Model Predictive Control (MPC) is adopted from previous works from the authors. The aim of this paper is then to explore lightweight controllers for the real-time stage as alternatives to MPC, which relies on computational-intensive modeling and optimization. Decision Trees (DTs) are considered for this purpose, offering understandable solutions by processing input data through explicit tests of the inputs with predefined thresholds. Various DT variations, including regular, regressors, and linear DTs, are studied. Linear DTs, with a minimal number of leaves, exhibit superior performance, especially when trained on historical MPC data, outperforming the reference MPC in terms of energy exchange efficiency. However, due to impracticalities, an offline training approach for the DTs is proposed, which sacrifices performance. An online tuning strategy is then introduced, updating the DT coefficients based on real-time observations, significantly enhancing performance in terms of energy deviation reduction during real-time operation. [ABSTRACT FROM AUTHOR]

Air-source heat pumps (ASHPs), functioning as thermally controlled loads, possess significant adjustable capabilities and controllability when aggregated, establishing them as premium resources for demand-response engagement. This paper proposes a control strategy for the aggregation of ASHP loads to participate in demand response across multiple scenarios, framed within a three-tier architecture: electric power system, Load Aggregator (LA), and thermal load. Load Aggregators, considering the user-comfort temperature ranges and the thermal storage characteristics of buildings, aim to minimize heating costs through time-of-use electricity pricing, while assessing the adjustability of the load. Upon receiving control directives from the power system's dispatch department, the strategy allocates load adjustments by considering user comfort and system regulatory needs, thereby addressing issues like aggregated power oscillations and significant rebound loads. The effectiveness of the proposed strategy is corroborated through simulation, demonstrating its potential to enhance demand-response participation and ameliorate associated power stability challenges. [ABSTRACT FROM AUTHOR]

Summary Virtual synchronous generators (VSGs) can provide damping and inertia for new power systems are of wide interest. Model predictive control (MPC) has the advantages of simple structure, easy to deal with constraints, and can achieve multi‐objective control. However, the conventional MPC has the problems of relying on the model parameters as well as the difficulty of taking the values of the weighting factors. Based on this, this paper proposes a robust MPC control strategy without weighting factors, which improves the system robustness by identifying the model parameters through model reference adaptive system (MRAS); and introduces fuzzy decision making (FDM) to avoid the selection of weighting factors. First, the mathematical model of VSG is established and the prediction model of VSG multi‐objective control is derived. Second, a detailed analysis is conducted to examine the impact of parameter mismatch on VSG. Third, the expression for online identification of parameters is derived based on Popov's superstability theory, using FDM to optimize multi‐objective control and using decision functions instead of cost functions to avoid the selection of weighting factors. Finally, the effectiveness of the proposed control strategy is verified through the RT‐LAB semi‐physical platform. [ABSTRACT FROM AUTHOR]

In recent years, the development of hydrogen energy has been widely discussed, particularly in combination with renewable energy sources, enabling the production of "green" hydrogen. With the significant increase in wind power generation, a promising solution for obtaining green hydrogen is the development of wind-to-hydrogen (W2H) systems. However, the high proportion of wind power and electrolyzers in a large-scale W2H system will bring about the problem of renewable energy consumption and frequency stability reduction. This paper analyzes the operational characteristics and economic feasibility of mainstream electrolyzers, leading to the proposal of a coordinated hydrogen production scheme involving both a proton exchange membrane (PEM) electrolyzer and an alkaline (ALK) electrolyzer. Subsequently, a coordinated control based on Model Predictive Control (MPC) is proposed for system frequency regulation in a large-scale W2H islanded microgrid. Finally, simulation results demonstrate that the system under PEM/ALK electrolyzers coordinated control not only flexibly accommodates fluctuating wind power but also maintains frequency stability in the face of large disturbances. Compared with the traditional system with all ALK electrolyzers, the frequency deviation of this system is reduced by 25%, the regulation time is shortened by 80%, and the demand for an energy storage system (ESS) is reduced. The result validates the effectiveness of MPC and the benefits of the PEM/ALK electrolyzers coordinated hydrogen production scheme. [ABSTRACT FROM AUTHOR]

This paper studies a cooperative modeling framework to reduce the complexity in deriving the governing dynamical equations of complex systems composed of multiple bodies such as biped robots and unmanned aerial and ground vehicles. The approach also allows for an optimization-based trajectory generation for the complex system. This work also studies a fast–slow model predictive control strategy with task prioritization to perform docking maneuvers on cooperative systems. The method allows agents and a single agent to perform a docking maneuver. In addition, agents give different priorities to a specific subset of shared states. In this way, overall degrees of freedom to achieve the docking task are distributed among various subsets of the task space. The fast–slow model predictive control strategy uses non-linear and linear model predictive control formulations such that docking is handled as a non-linear problem until agents are close enough, where direct transcription is calculated using the Euler discretization method. During this phase, the trajectory generated is tracked with a linear model predictive controller and addresses the close proximity motion to complete docking. The trajectory generation and modeling is demonstrated on a biped robot, and the proposed MPC framework is illustrated in a case study, where a quadcopter docks on a non-holonomic rover using a leader–follower topology. [ABSTRACT FROM AUTHOR]

To solve the problem of trajectory tracking lateral control in autonomous driving technology, a model predictive control (MPC) controller trajectory tracking lateral control method combined with a deep deterministic policy gradient algorithm (DDPG) is proposed in this paper. This method inputs the real-time state of the vehicle into DDPG to achieve real-time automatic optimization of the prediction time domain and control time domain parameters of the MPC controller, and then affects the specific performance of the MPC controller in trajectory tracking lateral control. Specifically, the state space, action space, and reward function of DDPG are defined, and the automatic driving trajectory tracking lateral controller is designed in combination with the vehicle dynamics model. To reduce the exploration space of DDPG and improve the training efficiency of the entire model, the technique of advantage-disadvantage experience separation and extraction is introduced. Finally, the proposed method was trained and verified in various scenarios, and compared with two other lateral control methods for autonomous driving. The results showed that the learning and training time of the trajectory tracking lateral control method based on DDPG-MPC was shorter than that of the DDPG-based method, and the evaluation indicators in the trajectory tracking control process were better than those of the DDPG-based method and original MPC-based method. [ABSTRACT FROM AUTHOR]

This paper introduces a novel data‐driven approach to develop a fault‐tolerant model predictive controller (MPC) for non‐linear systems. By adopting a Koopman operator‐theoretic perspective, the proposed method leverages historical data from the system to construct a data‐driven model that captures the non‐linear behaviour and fault characteristics. The fault influence is addressed through an online estimation of a time‐varying Koopman predictor, which allows for adjusting the MPC control law to counteract the fault effects. This estimation is performed in a higher dimensional Koopman feature space, where the dynamics behave linearly. As a result, the non‐linear fault‐tolerant MPC optimization problem can be replaced with a more practical and feasible linear time‐varying one using the approximated Koopman predictor. Moreover, by incorporating the online update procedure, the time‐varying Koopman predictor can represent the dynamics of the faulty system. Hence, the controller can adapt and compensate for the faults in real‐time, integrating the fault diagnosis module in the MPC framework and eliminating the need for a separate fault detection unit. Finally, the efficacy of the proposed approach is demonstrated through case study results, which highlight the ability of the controller to mitigate faults and maintain desired system behaviour. [ABSTRACT FROM AUTHOR]

This paper aims to establish a new event-triggered model predictive control (MPC) strategy for perturbed nonlinear systems working in a networked environment, which can effectively save the computation and communication resources while ensuring control performance. The core of the framework is a new event-triggered mechanism, which is built by combining the differential and integral (D-I) information of the error between the optimal state and the actual state in a pre-specified time horizon. Based on such a triggering mechanism, a D-I based event-triggered robust MPC algorithm is proposed to stabilise the system and reduce the computation/communication resource consumption. In addition, sufficient conditions to ensure the feasibility and stability of the proposed MPC algorithm and avoid Zeno behaviour are obtained through rigorous theoretical analysis. Finally, the proposed control framework is implemented in the nonlinear cart-damper-spring and autonomous underwater vehicle systems to verify its effectiveness. [ABSTRACT FROM AUTHOR]

Aiming at the current control steady‐state error caused by sampling delay, parameters mismatch of direct‐drive permanent magnet synchronous motor (PMSM). This paper proposed a method of dual model predictive control (MPC) of direct‐drive PMSM based on sliding mode disturbance observer (SMDO). Deadbeat predictive current control (DPCC) is used for current loop, a SMDO is proposed to observe the system disturbance, the estimation is compensated to DPCC by feedback to decrease the current control steady‐state error. For speed loop, MPC with an internal model control observer (IMCO) can observe and compensate the load disturbance feedforward. The experimental results show that, the dynamic response speed of the proposed strategy is fast, the speed recovery time after sudden load torque is short, and the anti‐load disturbance performance and current tracking performance are effectively improved. © 2024 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC. [ABSTRACT FROM AUTHOR]

This paper presents the design of model predictive control (MPC) combined reinforcement learning (RL) applied in an intelligent transportation system (ITS). The car is to follow the reference path by the MPC control, and its parks in the parking by RL has been trained. The MPC controller constantly moves the vehicle along the reference path while the MPC algorithm searches for an empty parking spot. Meanwhile, the reinforcement learning-proximal policy optimization (RL-PPO) control will perform parking on demand if the MPC finds a parking position. This hybrid controller can quickly implement programming on MATLAB software by writing code. Furthermore, this hybrid controller simultaneously performs precise detection and avoidance of obstacles in tight parking spaces. The correctness of the theory is demonstrated through MATLAB/Simulink. [ABSTRACT FROM AUTHOR]

In order to improve autonomous vehicles path-tracking accuracy and stability, a lateral–longitudinal coordination path-tracking control method is proposed. The proposed coordination control consists of path-tracking control and speed tracking control. First, the desired safety speed is planned according to the known road curvature and adhesion coefficient in order to prevent the tire force saturation. Based on the three-degree-of-freedom (3DOF) vehicle dynamic model and the preview tracking error model, model predictive control (MPC) theory is adopted to design the speed-varying vehicle path-tracking controller. Then, the quadratic programming (QP) method is used to solve the objective function with constraints, which calculates the steering angle to control the vehicle track the reference path. In addition, a PID speed controller is designed to calculate the torque of each wheel to track the desired speed. Finally, according to the yaw rate error and the vehicle slip angle error, a yaw moment stability controller based on the fuzzy logic control theory is designed to balance the vehicle stability and motility. The simulation results based on a Matlab/Carsim platform show that the coordination path-tracking control method proposed in this paper can effectively improve the vehicle tracking accuracy and the stability on different roads. [ABSTRACT FROM AUTHOR]

Electric Solar Wind Sails (E-Sails) are a new type of spacecraft propellantless propulsion system that gathers its energy from solar wind protons and is potentially useful for interplanetary missions. Although optimal interplanetary trajectories have been the subject of thorough research, the substantial variability of the solar wind necessitates the adoption of active guidance strategies, an area that has received significantly less scholarly attention. This paper proposes guidance algorithms for E-Sails based on Model Predictive Control (MPC), a modern control methodology based on online re-planning of the trajectory. To this end, first, properties of E-sail time-optimal orbits are studied applying Pontryagin's Minimum Principle, and then time-optimal orbits for missions to Mars and Jupiter are computed via direct transcription methods. Next, solar wind perturbations are modeled, posing a challenging saturation problem due to their high variability. Guidance strategies based on Shrinking Horizon and Receding Horizon Model Predictive Control (RHMPC) are developed, analyzed and compared using Monte Carlo simulations, successfully implementing MPC to E-sail guidance. Lastly, the RHMPC strategy is successfully tested with accurate historical solar wind data from the WSA-Enlil model. • Solar wind fluctuations implies need of guidance in E-sail interplanetary missions. • Optimal planning for E-sails is performed using direct and indirect methods. • Control saturation due to solar wind pressure is reduced by leaving control margins. • Model predictive control guidance methods are compared with Monte Carlo analysis. • Receding horizon strategy in tested with semi-empirical historical solar wind. [ABSTRACT FROM AUTHOR]

In recent years, with the growing number of EV charging stations integrated into the grid, optimizing the aggregated EV load based on individual EV flexibility has drawn aggregators' attention as a way to regulate the grid and provide grid services, such as day-ahead (DA) demand responses. Due to the forecast uncertainty of EV charging timings and charging energy demands, the actual delivered demand response is usually different from the DA bidding capacity, making it difficult for aggregators to profit from the energy market. This paper presents a two-layer online feedback control algorithm that exploits the EV flexibility with controlled EV charging timings and energy demands. Firstly, the offline model optimizes the EV dispatch considering demand charge management and energy market participation, and secondly, model predictive control is used in the online feedback model, which exploits the aggregated EV flexibility region by reducing the charging energy based on the pre-decided service level for demand response in real time (RT). The proposed algorithm is tested with one year of data for 51 EVs at a workplace charging site. The results show that with a 20% service level reduction in December 2022, the aggregated EV flexibility can be used to compensate for the cost of EV forecast errors and benefit from day-ahead energy market participation by USD 217. The proposed algorithm is proven to be economically practical and profitable. [ABSTRACT FROM AUTHOR]