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Traffic congestion is a serious problem in the US, and traffic signal control is one of the effective solutions to congestion. Previous research on model predictive control (MPC)-based traffic signal control showed substantial benefits over conventional methods. This study focused on implementing MPC over a large-scale network with complex intersections and the impact of cycle length, network size, and imperfect state estimation on performances. This study implemented a virtual phase link (VPL)-based model predictive control method which used the number of vehicles in each VPL as input state variables and was suitable for National Electrical Manufacturing Association (NEMA) ring-barrier control. To test the impact of network size, the performance of distributed MPC (36 intersections in the network are divided into five subnetworks) was compared with that of MPC over the full network for a set of cycle lengths. To test the impact of imperfect state estimation, we synthetically infused estimation error and developed two scenarios, MPC-error and MPC-error narrow, which had higher and lower estimation errors, respectively. The performance of these MPC methods was compared with that of the existing time-of-day (TOD) method and an offline method that used Webster's method for split and MULTIBAND for cycle length and offset optimization. Trajectory and linkwise signal performance measures were collected from the simulation to evaluate performance. The distributed MPC method with perfect state estimation had the lowest delay and highest energy efficiency of all the methods. The performance of MPC decreased as the prediction inaccuracy increased. MPC-error had 7% and 11% more delay than MPC-error narrow in the morning and evening peaks, respectively. Overall, simulation results suggest that even with imperfect state estimation, MPC methods will outperform offline methods significantly. [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]

Fuel consumption optimization is a critical field of research within the automotive industry to meet consumer expectations and regulatory requirements. A reduction in fuel consumption can be achieved by reducing the energy consumed by the vehicle. Several subsystems contribute to the overall energy consumption of the vehicle, including the air conditioning (A/C) system. The loads within the A/C system are mainly contributed by the compressor, condenser fan, and underhood aerodynamic drag, which are the components targeted for overall vehicle energy use reduction in this paper. This paper explores a new avenue for A/C system control by considering the power consumption due to vehicle drag (regulated by the condenser fan and active grille shutters (AGS)) to reduce the energy consumption of the A/C system and improve the overall vehicle fuel economy. The control approach used in this paper is model predictive control (MPC). The controller is designed in Simulink, where the compressor clutch signal, condenser fan speed, and AGS open-fraction are inputs. The controller is connected to a high-fidelity vehicle model in Gamma Technologies (GT)-Suite (which is treated as the real physical vehicle) to form a software-in-the-loop simulation environment, where the controller sends actuator inputs to GT-Suite and the vehicle response is sent back to the controller in Simulink. Quadratic programming is used to solve the MPC optimization problem and determine the optimal input trajectory at each time step. The results indicate that using MPC to control the compressor clutch, condenser fan, and AGS can provide a 37.6% reduction in the overall A/C system energy consumption and a 32.7% reduction in the error for the air temperature reference tracking compared to the conventional baseline proportional integral derivative control present in the GT-Suite model. [ABSTRACT FROM AUTHOR]

Traffic waves in traffic flow significantly impact road throughput and fuel consumption and may even lead to severe safety issues. Currently, in connected and autonomous environments, the jam-absorption driving (JAD) strategy shows good performance in dissipating traffic waves. However, the previous JAD strategy has mostly focused on wave dissipation without adequately assessing traffic efficiency and safety. To address this gap, an optimal control problem for JAD in mixed traffic is proposed to reduce traffic waves. The prediction model is developed using the car-following model within a model predictive control (MPC) framework. The Helly model is selected for the manual vehicle. This is because the Helly model is a linear model that describes the car-following phenomenon accurately without delay effect. In addition, the objective function of the prediction model considers both traffic safety and efficiency while satisfying mechanical and safety constraints. Simulation results indicate that the proposed methodology can effectively reduce traffic jams and improve traffic performance on a one-lane freeway. The optimal method is more applicable to complex traffic wave scenarios, providing a new perspective for reducing traffic jams on the freeway. [ABSTRACT FROM AUTHOR]

In recent times, the research in sustainable energy resources was integrated with the control approaches of various hybrid renewable energy systems for balancing the electricity generation. The accelerated hybrid energy storage systems and steadily growing energy consumption make the variability and the predictable behavior occur in the renewable energy sources, which requires an energy management system. This paper aims to control hybrid renewable energy systems for power management. The systems consist of photovoltaic (PV) arrays, diesel generators, wind systems with boost converter DC-DC, and inverters. The optimum of the real-time process is less due to prediction errors of multiple renewable sources, which track the output voltage and load current. Model predictive control (MPC) is proposed for problem-solving time operation to address this issue and compensate for the prediction error. The major impact factors, such as optimal split power, stability, reliability of energy, and desired dynamic responses, have been identified by applying the MPC technique. A simulation model has been constructed using MATLAB/Simulink environment to confirm the effectiveness of the MPC technique model. [ABSTRACT FROM AUTHOR]

Optimal energy management of microgrids enables efficient integration of renewable energies by considering all system flexibilities. For systems with significant seasonal imbalance between energy production and demand, it may be necessary to integrate seasonal storage in order to achieve fully decarbonized operation. This paper develops a novel model predictive control strategy for a renewable microgrid with seasonal hydrogen storage. The strategy relies on data-based prediction of the energy production and consumption of an industrial power plant and finds optimized energy flows using a digital twin optimizer. To enable seasonal operation, incentives for long-term energy shifts are provided by assigning a cost value to the storage charge and adding it to the optimization target function. A hybrid control scheme based on rule-based heuristics compensates for imperfect predictions. With only 6% oversizing compared to the optimal system layout, the strategy manages to deliver enough energy to meet all demand while achieving balanced hydrogen production and consumption throughout the year. • PV with seasonal H 2 storage enables fully sustainable operation of industrial microgrids. • Model predictive control overcomes perfect foresight limitation in energy management. • H 2 production for long-term storage is incentivized by adding an extra cost term. • Hybrid predictive control enables a low cost system with nearly perfect yearly operation. [Display omitted] [ABSTRACT FROM AUTHOR]

To improve the fuel economy of ships with multi-energy hybrid power systems, we propose an energy management strategy for hybrid power ships based on condition identification and prediction. By constructing a condition identification model based on a support vector machine (SVM), the characteristic parameters of current operation conditions of the ships were analyzed and assessed to determine operation condition types of the ships in real-time. The model predictive control (MPC) method is used to distribute the output power of the main engine, storage battery, and supercapacitor. Using multiple sets of multi-step Markov models with different types of operating conditions as the power prediction model, the optimal prediction time domain length and initial SOC are selected through simulation. Finally, based on the operating condition identification results, the operating condition prediction model for the corresponding type of operating condition is automatically selected to improve the strategy performance.The results show that the proposed strategy can save 4.55% of fuel consumption compared with the strategy using only model predictive control.Using this strategy can effectively improve the fuel economy and energy efficiency, and promote the development of green ships. [ABSTRACT FROM AUTHOR]

This paper proposes a battery state of charge (SOC)-based energy management strategy using hierarchical distributed model predictive control (HDMPC) for a standalone microgrid on solar-powered long-endurance aircraft. The microgrid was innovatively designed as a two-layer structure in which the first layer consists of a photovoltaic generation and battery storage system named the PV battery module (PBM). The second layer, named the microgrid subsystem (MGSS), consists of several PBMs, each of which supplies power to a specific DC load on the aircraft. The control system is divided into two levels: the grid-level model predictive control (MPC) and the converter-level MPC. The grid-level MPC adopts a distributed model predictive control strategy to obtain the reference power of each module. The converter-level MPC calculates the control variables of converters using a supervisory model predictive control (SMPC) strategy. The new microgrid structure and the proposed control strategy have improved the reliability of the energy system and increased its energy utilization rate. [ABSTRACT FROM AUTHOR]

Fuel-saving-oriented collaborative driving is a highly promising yet challenging endeavor that requires satisfying the driver's operational intentions while surpassing the driver's fuel-saving performance. In light of this challenge, the paper introduces an innovative collaborative driving strategy tailored to the objective of fuel conservation in the context of commercial vehicles. An enhancement to this strategy involves the development of a network prediction model for vehicle speed, leveraging insights from driver style recognition. Employing the predicted speed as a reference, a model-predictive-control-based optimal controller is designed to track the reference while optimizing fuel consumption. Furthermore, a straightforward yet effective collaborative rule is proposed to ensure alignment with the driver's intention. Subsequently, the proposed control scheme is validated through simulation and real-world driving data, revealing that the human–machine cooperative driving controller saves 4% more fuel than human drivers. [ABSTRACT FROM AUTHOR]

This paper presents a stochastic model predictive control approach combined with a time-series forecasting technique to tackle the problem of microgrid energy management in the face of uncertainty. The data-driven nonparametric chance constraint method is used to formulate chance constraints for stochastic model predictive control, while removing the dependency on probability density assumptions of uncertain variables and retaining the linear structure of the resulting optimization problem. The proposed approach is suitable for implementation on systems with limited computational power or limited memory storage, thanks to its simple linear structure and its ability to provide accurate results within pre-defined confidence levels, even when using small data batches. The proposed forecasting and stochastic model predictive control approaches are applied on a numerical example featuring a small gridconnected microgrid with PV generation, a battery storage system, and a noncontrollable load, showing the ability to reduce costs by reducing the confidence level, and to satisfy pre-defined confidence levels. [ABSTRACT FROM AUTHOR]

• The TM capture is first reformulated to nonlinear quadratic optimal control. • The high-efficiency NMPC with robustness and optimality is proposed for TM capture. • The mixed state and control constraints are integrated into the robust optimal control. • The proposed method guarantees the computational efficiency. This paper presents a nonlinear high-efficiency model predictive control (NHMPC) with constraints designed for the test mass (TM) capture phase of the drag-free satellite about gravitational wave observatory. To avoid collisions between test mass and satellite cavity, TM capture is the essential technology for drag-free satellite. Test mass is located inside an electrostatic suspension and locked by a clamp mechanism initially. The test masses are released with high initial offsets and velocities when the mechanism is retracted. The purpose of this phase is to guarantee the TM to be positioned at the cage center and attitude aligned with the local cage frame. Due to the low actuation authority of electrostatic suspension along with critical initial offsets and velocities, it is a challenging task to design the attitude and translation control schemes with simultaneous consideration of system performance and energy consumption. For the problem given above, the TM capture can be reformulated into a nonlinear quadratic optimal control problem with the state and input constraints. A nonlinear model predictive control (NMPC) structure is also designed to handle the noises by forming a closed loop. This control framework can realize optimality and robustness in a compromise. To improve the speed of solving high-dimensional nonlinear optimal control online for MPC, the indirect Chebyshev pseudospectral method with constraints is employed. The convergence and stability of the control loop are analyzed. Simulation examples show that the feasibility and performance of the designed control loop are verified compared with the existing methods and computation times in the millisecond range can be achieved. [ABSTRACT FROM AUTHOR]

Extensive studies developed eco-driving strategies to smooth traffic and reduce energy consumption and emission at signalized intersections. Part I (Zhang and Du, 2022) of this study developed a novel platoon-centered control for eco-driving (PCC-eDriving), considering a mixed flow involving Connected and Autonomous Vehicles (CAVs) and Human-Driven Vehicles (HDVs). This PCC-eDriving is mathematically implemented by a hybrid Model Predictive Control (MPC) system and solved by an active-set based optimal condition decomposition algorithm (AS-OCD). It generates discrete control laws for a platoon to approach, split as sub-platoons as needed, and then pass the intersections smoothly and efficiently. Though the numerical experiments validated the effectiveness, the theoretical properties of the hybrid MPC system and the solution algorithms were not investigated. Part II of this study thus focused on these theoretical analyses. Mainly, we first analyzed and proved the MPC sequential feasibility and hybrid system switching feasibility to guarantee the control continuity of the hybrid MPC system. Next, we factored CAV control uncertainties and proved the Input-to-state stability of the robust MPC controller. These proofs theoretically ensured the effectiveness and robustness of the hybrid MPC system. Last, we proved the solution optimality and convergence of the AS-OCD algorithm. It confirmed that the AS-OCD algorithm could find the global optimal solutions for the MPC optimizers with a linear convergence rate. [ABSTRACT FROM AUTHOR]

Hybrid electric vehicles (HEVs) are used as a bridge during the transition to battery electric vehicles (BEVs) and to make energy consumption more efficient. The main problem in improving the efficiency of HEV energy consumption is torque management. In this study, a novel approach based on a nonlinear model predictive controller to solve the reference tracking and torque distribution problem is proposed. That is to say, in order to increase the efficiency of torque distribution, the weights of nonlinear model predictive control (NMPC) are trained with a Deep Q Network (DQN), and an event-triggered mechanism is designed with DQN to reduce the computational cost of MPC. The considered torque distribution problem varies according to the type and structure of the HEV. In this study, a parallel type 2 hybrid electric vehicle (P2 HEV) is considered and modeled via publicly shared passenger vehicle data of the engine, motor, high-voltage battery, transmission, clutch, differential, and wheel characteristics. NMPC is formulated so that the torque values remain within the physical limits of the engine, and the battery also operates at its physical limits. Namely, it is guaranteed that the battery works according to a certain state of charge (SOC) window and current limits. The state of health (SOH) of the battery is also considered in the optimization. The motor and engine efficiencies increase by 3.61% and 2.86%, respectively, with the proposed control structure, while the computational cost is reduced by 52.01% when utilizing the proposed event-triggering mechanism in the NMPC controller. [ABSTRACT FROM AUTHOR]

To address the issue of precise control of dissolved oxygen (DO) concentration and nitrate nitrogen level in wastewater treatment processes (WWTPs) under the premise of low energy consumption, a multivariable event-triggered model predictive control (ETMPC) strategy based on recursive bilinear subspace identification (RBSI) is proposed in this paper. Since WWTPs have strong non-linear, multivariable coupling and large delay characteristics, the RBSI algorithm with a forgetting factor is used to build the model predictive control (MPC) in this paper. In RBSI-ETMPC, first, to overcome the difficulties in establishing an accurate mathematical model due to the complex reaction mechanism in WWTPs, the BSI algorithm with linear and non-linear advantages and the RBSI algorithm with adaptive updating of parameters are utilized to establish the state space identification model of the wastewater biochemical reaction process. Then, the RBSI predictor equation obtained by the data-driven method is utilized as the MPC prediction model. Under the condition of meeting the event triggering strategy, the sequential quadratic programming algorithm is adopted to solve the quadratic performance function and update the control input at the next time. Finally, four experimental verifications under three working conditions, including a constant setpoint, variable setpoint and variable setpoint with input or output pulse interference, are carried out using international benchmark simulation model no. 1. The experimental results demonstrate that the values of the integral of absolute error, integral of square error and maximal deviation from setpoint of the RBSI-ETMPC decreased by 82.81%, 96.62% and 71.89%, respectively, for the variable setpoint control of the DO concentration under rain weather conditions compared with the recursive linear subspace identification (RLSI)-MPC. Furthermore, the longest trigger interval of the proposed RBSI-ETMPC is 0.8 h, which can save considerable computing resources. [ABSTRACT FROM AUTHOR]

This paper presents an equivalent consumption minimization strategy (ECMS) based on model predictive control for series hybrid electric mine trucks (SHE-MTs), the objective of which is to minimize fuel consumption. Two critical works are presented to achieve the goal. Firstly, to gain the real-time speed trajectory on-line, a speed prediction model is established by utilizing a recurrent neural network (RNN). Specifically, a hybrid optimization algorithm based on the genetic algorithm (GA) and the particle swarm optimization algorithm (PSOA) is used to enhance the prediction precision of the speed prediction model. Then, on this basis, an ECMS based on MPC (ECMS-MPC) is proposed. In this process, to improve the real-time and working condition adaptability of the ECMS-MPC, the power-optimal fuel consumption mapping model of the range extender is established, and the equivalent factor (EF) is real-time adjusted by means of the PSOA. Finally, taking a cement mining road as the research object, the proposed strategy is simulated with the collected actual vehicle data. The experimental results indicate that the prediction precision of the proposed speed prediction model is over 98%, realizing on-line speed prediction effectively. Furthermore, compared to the existing real-time EMSs, its fuel-saving rate had an increase of more than 13%. This indicates that the designed ECMS-MPC is able to offer a novel and effective method for the on-line energy management of the SHE-MTs. [ABSTRACT FROM AUTHOR]

In this paper, a unified level 2 Advanced Process Control system for steel billets reheating furnaces is proposed. The system is capable of managing all process conditions that can occur in different types of furnaces, e.g., walking beam and pusher type. A multi-mode Model Predictive Control approach is proposed together with a virtual sensor and a control mode selector. The virtual sensor provides billet tracking, together with updated process and billet information; the control mode selector module defines online the best control mode to be applied. The control mode selector uses a tailored activation matrix and, in each control mode, a different subset of controlled variables and specifications are considered. All furnace conditions (production, planned/unplanned shutdowns/downtimes, and restarts) are managed and optimized. The reliability of the proposed approach is proven by the different installations in various European steel industries. Significant energy efficiency and process control results were obtained after the commissioning of the designed system on the real plants, replacing operators' manual conduction and/or previous level 2 systems control. [ABSTRACT FROM AUTHOR]

The cement industry includes energy-intensive processes, e.g., clinker rotary kilns and clinker grate coolers. Clinker is obtained through chemical and physical reactions in a rotary kiln from raw meal; these reactions also involve combustion processes. The grate cooler is located downstream of the clinker rotary kiln with the purpose of suitably cooling the clinker. The clinker is cooled through the action of multiple cold air fan units as it is transported within the grate cooler. The present work describes a project where Advanced Process Control techniques are applied to a clinker rotary kiln and a clinker grate cooler. Model Predictive Control was selected as the main control strategy. Linear models with delays are obtained through ad hoc plant experiments and suitably included in the controllers' formulation. A cooperation and coordination policy is introduced between the kiln and the cooler controllers. The main objectives of the controllers are to control the rotary kiln and grate cooler critical process variables while minimizing the fuel/coal specific consumption of the kiln and the electric energy consumption of the cold air fan units within the cooler. The overall control system was installed on the real plant, obtaining significant results in terms of service factor and control and energy-saving performances. [ABSTRACT FROM AUTHOR]

In this paper, model predictive control (MPC) based energy management strategy is developed for dual motor coupled plug-in hybrid vehicle (PHEV) configuration. Firstly, the dynamic characteristics and working mode of dual motor coupled PHEV configuration are analyzed. Secondly, the rule-based strategy and dynamic programming (DP) strategy are developed and selected as the benchmark. Thirdly, vehicle speed prediction accuracy of three different prediction models for various time domain lengths is investigated considering the possibility of real-time applications. Thus, RBF neural network prediction model is applied in the following MPC strategy. Finally, the MPC strategy is developed through the rolling optimization and local optimization of DP strategy, which achieves the optimal torque distribution between engine and motors. Comparative analysis for rule-based, DP and MPC strategies are performed. It is seen that the MPC strategy can obtain similar fuel consumption with DP strategy, while the MPC strategy has certain real-time application potential with only 0.269s per single step calculation time. Compared with the rule-based strategy, the MPC achieves obvious fuel consumption and total cost improvement by 14.5% and 12.6% respectively. Therefore, MPC strategy can effectively improve the fuel economy and has certain real time application potential. [ABSTRACT FROM AUTHOR]

For the last decade, there has been great interest in studying dynamic control for unmanned aerial vehicles, but drones—although a useful technology in different areas—are prone to several issues, such as instability, the high energy consumption of batteries, and the inaccuracy of tracking targets. Different approaches have been proposed for dealing with nonlinearity issues, which represent the most important features of this system. This paper focuses on the most common control strategy, known as model predictive control (MPC), with its two branches, linear (LMPC) and nonlinear (NLMPC). The aim is to develop a model based on sensors embedded in a Tello quad-rotor used for indoor purposes. The original controller of the Tello quad-rotor is supposed to be the slave, and the designed model predictive controller was created in MATLAB. The design was imported to another embedded system, considered the master. The objective of this model is to track the reference trajectory while maintaining the stability of the system and ensuring low energy consumption. The case study in this paper compares linear and nonlinear model predictive control (MPC). The results show the efficiency of NLMPC, which provides more promising results compared to LMPC. The comparison concentrates on the energy consumption, the tracked trajectory, and the execution time. The main finding of this research is that NLMPC is a good solution to smoothly track the reference trajectory. The controller in this case processes faster, but the rotors consume more energy because of the increased values of control inputs calculated by the nonlinear controller. [ABSTRACT FROM AUTHOR]

Cooperation among multiple connected vehicles (CVs) brings swarm intelligence to our transportation systems and helps improve their performance. This study proposes a fuel economy optimization approach for a platooning vehicle swarm via distributed economic model predictive control (DEMPC). Within the DEMPC framework, each CV shares its assumed trajectory in the predictive horizon with its neighboring CVs at each control loop. With its neighbors’ and its own assumed trajectories, each CV first solves an open-loop control optimization problem for platoon formation, and then solves an open-loop economic optimization problem for direct fuel economy improvement. In particular, the optimal cost of the former optimization problem is used in the latter one to build an upperbound constraint for stability guarantee. The asymptotic convergence of assumed terminal states is given in the analysis, and the recursive feasibility of the two optimization problems are proved with an explicit constraint on the weight matrices in the open-loop control optimization problem. Based on these analyses, the asymptotic stability of the closed-loop system is finally proved through Lyapunov analysis. Numerical simulation results validate the effectiveness of the proposed approach in terms of closed-loop stability and fuel economy improvement. Note to Practitioners—This work aims to optimize the fuel economy for a swarm of vehicles running in a platoon. Existing approaches on platoon control mainly focus on the accurate tracking of the following vehicles, but this may cause aggressive control and hence lead to poor fuel economy. Therefore, this paper proposes a distributed economic model predictive control approach to explicitly optimize the fuel consumption rate of each vehicle. The proposed method can improve fuel economy and reduce communication requirements and burdens for platooning vehicle swarms. The paper assumes no communication time delay and packet drops, so the impact of unreliable communication will be studied in the future work. [ABSTRACT FROM AUTHOR]

This paper presents a novel systemic algorithm based on conservative power pinch analysis principles using a computationally efficient insight-based binary linear programming optimization technique in a model predictive framework for integrated load shifting and shedding in an isolated hybrid energy storage system. In a receding 24-hour predictive horizon, the energy demand and supply are integrated via an adaptive power grand composite curve tool to form a diagonal matrix of predicted hourly minimum and maximum energy constraints. The intgrated energy constraints must be satisfied recursively by the binary optimisation to ensure the energy storage's state of charge only operates within 30% and 90%. Hence, the control command to shift or shed load is contingent on the energy storage state of the charge violating the operating constraints. The controllable load demand is shifted and/or shed to prevent any violations while ensuring energy supply to the most critical load without sacrificing the consumers' comfort. The proposed approach enhances efficient energy use from renewable energy supply as well as limits the use of the Hydrogen resources by a fuel cell to satisfy controllable load demands which can be shifted to periods in the day with excess renewable energy supply. [ABSTRACT FROM AUTHOR]

The suspension system is a significant part of a vehicle because it transmits the torque and force between the wheels and the frame, meeting the requirements of ride comfort. In this paper, a novel interconnected air suspension was introduced and a cooperative control between interconnected mode activation (IMA) and outsourced mode activation (OMA) was designed. To improve ride comfort in a bus at a minimal energy consumption, this cooperative control based on model predictive control (MPC) for computing the best force and the rule was defined to distribute the best suspension force generated by IMA and OMA. The simulation and experimental results showed that the proposed control strategy significantly improved ride comfort in different conditions. Compared with traditional control in the test vehicle, the RMS of the front-left sprung mass and unsprung vertical acceleration decreased by 24.2% and 14.5%, respectively, under a straight condition; the RMS of the sprung (unsprung) mass vertical acceleration reduced by 22.38% and 15.43%, respectively, under a bump condition. [ABSTRACT FROM AUTHOR]

This paper proposes a model predictive control (MPC) method based on an interconnected model to maximize the ocean wave energy extracted by a wave-energy converter (WEC) array. In the proposed method, a formally uniform interconnected model is applied to represent the dynamics of an array consisting of an arbitrary quantity of WECs, simultaneously considering the hydrodynamic interaction among all the WEC devices. First, the WEC devices and their hydrodynamic interaction are represented in an interconnected model that describes the networked dynamics of a variety of WEC arrays with distinct spatial geometry layout of the WEC devices deployed in the sea field. Second, based on the presented model, an MPC method is applied to achieve the coordinated control of the WEC array to improve its energy conversion efficiency under the constraints of buoy position and control force. Third, a hardware-in-the-loop (HIL) platform is developed to simulate the WEC array's physical operating conditions, and the proposed method is implemented on the platform to test its performance. The test results show that the proposed MPC method using the interconnected model has a higher energy harvesting efficiency than the classic MPC method. [ABSTRACT FROM AUTHOR]

The energy harvested by an ocean wave energy converter (WEC) can be enhanced by a well-designed wave-by-wave control strategy. One of such superior control methods is model predictive control (MPC), which is a nonlinear constrained optimization control strategy. A limitation of the classical MPC algorithm is its requirement of an accurate WEC dynamic model for real-time implementation. This article overcomes this challenge by proposing a data-driven MPC scheme for wave energy converters. The data-based WEC model is developed by a Gaussian process (encompassing mean predictions and symmetric uncertainties) for a more accurate description of nonlinear and unmodeled system dynamics. A cross-entropy solver for data-driven MPC is employed for rapid, high-performance results, which samples trajectories from Gaussian distributions based on the concept of the symmetry principle. The proposed strategy is verified numerically by simulations which demonstrate its superior performance over a classical complex-conjugate controller. [ABSTRACT FROM AUTHOR]

Connected and automated vehicles have attracted more and more attention, given the benefits in safety and efficiency. This research proposes a novel model predictive control method in order to improve energy efficiency and ensure a safe spacing between vehicles. The proposed algorithm focuses on mixed traffic flow, which is more realistic than one that only includes autonomous vehicles. A high-fidelity energy loss model of an electric vehicle is adopted to improve the control's performance. A data-driven car-following model using machine learning is integrated in the framework of model predictive control to predict the behavior of human-driven vehicles. Its effectiveness in increasing energy efficiency is validated under two driving cycles. In the case of the scaled urban dynamometer driving schedule, the energy loss and the maximum spacing between the autonomous vehicle and the human-driven vehicle decreases by 6% and 18%, respectively, when compared with the baseline model predictive control without the consideration of interaction between the autonomous vehicle and the human-driven vehicle. In the scenario of the scaled city driving cycle, the energy loss of the autonomous vehicles also reduces by 3%, while the maximum and average spacing does not change significantly. The sensitivity of the optimization results to several parameters of the energy loss model is finally analyzed, and the robustness of the proposed algorithm is validated. [ABSTRACT FROM AUTHOR]

This paper presents a model predictive approach to the energy-aware control of tasks' execution in an assembly line. The proposed algorithm takes into account both the need for optimizing the assembly line operations (in terms of the minimization of the total cycle time) and that of optimizing the energy consumption deriving from the operations, by exploiting the flexibility added by the presence of a local source of renewable energy (a common scenario of industries that are often equipped, e.g., with photovoltaic plants) and, possibly, also exploiting an energy storage plant. The energy-related objectives we take into account refer to the minimization of the energy bill and the minimization of the peaks in the power injected and absorbed from the grid (which is desirable also from the perspective of the network operator). We propose a mixed-integer linear formulation of the optimization problem, through the use of H-infinite norms, instead of the quadratic ones. Simulation results show the effectiveness of the proposed algorithm in finding a trade-off that allows keeping at a minimum the cycle time, while saving on the energy bill and reducing peak powers. [ABSTRACT FROM AUTHOR]

In this work, a predictive supervisory controller is presented that optimizes the interaction between a diesel engine and its aftertreatment system (ATS). The fuel consumption is minimized while respecting an upper bound on the emitted tailpipe NOx mass. This is achieved by optimally balancing the fuel consumption, the engine-out NOx emissions, and the ATS heating. The proposed predictive supervisory controller employs a two-layer model predictive control structure and solves the optimal control problem using a direct method. Through experimental validation, the resulting controller was shown to reduce the fuel consumption by 1.1% at equivalent tailpipe NOx emissions for the nonroad transient cycle when compared to the operation with a fixed engine calibration. Further, the controller's robustness to different missions, initial ATS temperatures, NOx limits, and mispredictions was demonstrated. [ABSTRACT FROM AUTHOR]

We propose a novel semi-active vibration suppression method based on model predictive control (MPC). Semi-active vibration suppression provides excellent damping performance, energy consumption, and stability during control. As the semi-active control input is often discontinuous, it may be difficult to predict. Hence, we combine semi-active vibration suppression and MPC to determine the control input trajectory arbitrarily. The proposed method, called predictive switching based on piecewise constant input (PSPCI), assumes that the piezoelectric charge remains constant when the control circuit is in the open state. Under this assumption, the future system state can be predicted for semi-active vibration suppression while reducing the computational load. The PSPCI method predicts the future work done by the transducer and effectively suppresses vibrations. Its effectiveness and robustness are demonstrated through simulations and experiments. The proposed PSPCI method enables the prediction of the semi-active control input and diversifies the control input determination for effective semi-active vibration suppression. [ABSTRACT FROM AUTHOR]

Fast and strong interacting systems are hard to control from both performance and control effort points of view. Moreover, multiple objective functions or objectives with various identifiers of varying weights can hold unfeasible solutions at times. A novel cost objective function is proposed here to overcome both feasibility set limitations and computational burdens. An application example is used to illustrate its added value, which is a fast and strong interacting multivariable system: a landscape office lighting regulatory problem. New lighting technology and an intelligent control system have been produced to improve control accuracy and reduce power consumption. While optimizing the hardware of the lighting system, the energy consumption can be further reduced by applying advanced control strategy in the lighting system. This paper designed a fractional order distributed model predictive control (FOMPC) scheme to realize the reference tracking and stability control of multiple illuminations at the same time. In order to test the efficiency of the control strategy, an experiment was carried out on the lighting setup based on the dSPACE control system. The FOMPC scheme was analyzed through simulation and lighting experiments based on the dSPACE control system. Through a comparison with the mode predictive control (MPC) scheme, the superiority of the FOMPC scheme for the dynamic behavior and control performance of multiple lighting systems was verified. The research results provide a basis for multiple lighting control and its application. [ABSTRACT FROM AUTHOR]

Connected and automated vehicles (CAVs) have attracted tremendous interests worldwide. Four-Wheel-Independent-Drive Electric Vehicles (FWID EVs) have the potential of improving vehicle handling performance and energy consumption. In this paper, an integrated vehicle-following control scheme for FWID EVs with Vehicle-to-Everything (V2X) communication capability is proposed to account for nonideal communication such as time-varying delays and packet dropouts. A packet dropout compensator is put forward to compensate for V2X information loss. A longitudinal controller with a delay compensator is then synthesized and integrated with a lateral model predictive controller to enable vehicle-following control. The stability of the proposed controller is validated theoretically and experimentally under comprehensive driving scenarios through Hardware-In-the-Loop tests. The results demonstrate that the proposed controller has good vehicle-following performance against nonideal V2X communication. This attests to its competency for being used in vehicle platoon control. [ABSTRACT FROM AUTHOR]

This paper investigates the optimal tracking control problem of free-floating space robots in the presence of non-ideal factors, such as model uncertainties and external disturbances. To address this issue, we first leverage the deep Koopman operator, facilitated with a deep neural network, to establish an offline formulation of a global linearization model for a micro-nano free-floating space robot. Based on the estimated linearization model, we then employ the model predictive control method for online optimization control, achieving a significantly reduced computational burden. Additionally, a decay factor is integrated into the model predictive control optimization objective function to balance the precision of joint angles tracking with the suppression of base satellite attitude disturbance. To further address the modeling inaccuracies and external disturbances, we incorporate a disturbance observer based on a radial basis function neural network for online compensation within the model predictive control framework. This augmentation enhances tracking precision and robustness. Several groups of simulation results are carried out to demonstrate the effectiveness of the proposed method, showing its capability of energy consumption, disturbance rejection and enhanced robustness. These highlight the potential of the proposed method to improve the control performance of free-floating space robots, even in the absence of a precise dynamic model. • A Koopman-operator-based model for a free-floating space robot is established using a deep neural network. • A disturbance observer is adopted to mitigate internal and external disturbances embedded within model predictive control framework. • A decay factor is designed to minimize base satellite attitude disturbance without losing joint angles tracking precision. [ABSTRACT FROM AUTHOR]

The increasing penetration of renewable energy resources has transformed the energy system from a traditional hierarchical energy delivery paradigm to a distributed structure. Local energy hubs activates synergies among energy carriers rendering flexibility to the system and gives rise to possible energy trading among networked local energy hubs. Joint operation of such hubs and peer-to-peer trading between them can improve energy efficiency and support the integration of renewable energy resources. However, for such complex systems involving multiple stakeholders, both computational tractability and privacy concerns need to be accounted for. In this work, a novel multi-horizon distributed MPC framework is introduced for the control of energy hub networks. The multi-horizon approach increases the prediction horizon for MPC without compromising the time discretization or making the problem computationally intractable. The distributed scheme is based on a consensus alternating direction method of multipliers algorithm. It combines the superior performance of the centralized approach with the privacy preservation of the decentralized approach. A benchmark three-hub network is used to investigate the performance of the proposed method in simulation and compare it to the decentralized, centralized and standard model predictive control (MPC) approaches. The results show superior performance of the distributed multi-horizon MPC in terms of total cost, computational time, and robustness to demand and prices variations. Finally, the performance was also experimentally validated in real time by implementing the controller on a real energy hub system. • A novel multi-horizon distributed control algorithm for energy hub coordination. • Multi-horizon MPC implementation allows longer horizon with fewer variables. • Superior performance over other strategies in terms of cost, speed and scalability. • The proposed algorithm ensures optimality while preserving privacy and scalability. • Extensive validation on a network of energy hubs with realistic models and demand. [ABSTRACT FROM AUTHOR]

The thermal management system (TMS) in electric vehicles (EVs) is a comprehensive system that integrates an air conditioning system for the cabin, a temperature control system for the battery, and a cooling system for the motor. The currently used PI control strategy can only meet the basic TMS functions and cause high energy consumption. In this paper, we present a novel model predictive control (MPC) strategy for the TMS to optimize operational performance in real time. Different from the independent PI control for the individual components, MPC can predict future operation conditions and provide the optimal operating inputs in advance. A complete control-oriented model for MPC is developed, and the MPC strategy is designed to minimize the total power consumption of the TMS under the control-oriented model and constraints. The evaluation is carried out under several cases including the fixed ambient temperature, realistic ambient temperature, and different vehicle speeds. The results showed that the novel MPC strategy saved energy consumption by 5.9%–10.3% in these cases when compared to the PI strategy, demonstrating the effectiveness and feasibility of the proposed MPC control. • Proposed a model predictive control strategy for thermal management systems in EVs. • Developed a control-oriented model based on data-driven methods and physical principles. • Minimizes total power consumption while maintaining cabin and battery temperatures. • Results demonstrate the effectiveness of the MPC strategy under various conditions. [ABSTRACT FROM AUTHOR]

This paper investigates the nonlinear model predictive control to automatic train regulation in metro systems under dynamically disturbed environments. A coupled state-space model for the evolution of train traffic and passenger load dynamics is explicitly developed. With the safety constraints, a mixed-integer nonlinear optimal control model is formulated to generate train regulation strategies. An efficient solution algorithm, based on spatial branch and bound combined with generalized Benders decomposition, is particularly designed to obtain exact solutions quickly for the embedded applications. The original complex problem can be converted into several smaller convex quadratic subproblems with reduced domains to be solved quickly. The effectiveness of our train control model and approaches are verified in numerical simulations. Computational results illustrate that the proposed control method effectively improves the operational efficiency and meanwhile reduces energy consumption during operations. Besides, the efficient embedded solution algorithm performs satisfactory computational efficiency, facilitating a real-time implementation. [ABSTRACT FROM AUTHOR]

The pressure of exhaust emission regulations on automotive manufacturers to reduce environmental pollution and fuel consumption of internal combustion engines (ICEs) have stimulated the works on the downsizing, downspeeding, and turbo supercharging concepts which result in boosted engine torsional vibrations. Despite significant momentum in the implementation of those concepts in modern ICEs in recent decades, similar progress has not taken place in parallel at torsional vibration isolation systems. To this end, this article centers on the development and implementation of a model predictive controller (MPC) on a novel active torsional vibration damper (ATVD) in which inertia, stiffness rate, and damping rate parameters can be varied to minimize torsional vibration transmission to the vehicle powertrain. Dynamic response of the ATVD is examined using an MPC inside a closed-loop control architecture with predicted variables. The MPC structure, state-space plant model, and physical constraint definitions are composed to be utilized in prediction models at various engine operating points. The MPC performance is evaluated in a co-simulation environment using Simcenter Amesim, NX Motion, and Matlab Simulink software, and are compared with that of the fuzzy logic controller (FLC). The simulation results clearly indicate that the MPC applied to the ATVD system has certain advantages over the FLC and is able to provide satisfactory isolation of the powertrain from engine-borne torsional vibrations while satisfying the physical constraints. [ABSTRACT FROM AUTHOR]

The utilization of space for human activities has increased steadily over the past several decades. In parallel, space debris has also grown at an alarming rate, posing risks to space missions and establishing debris removal as an aspiration in the current space industry. These objects can orbit at arbitrary rotational speeds in different planes. In this paper, a model predictive control-based algorithm is developed for a target-chaser rendezvous situation to optimize fuel consumption while considering thruster constraints and memory usage. A performance comparison is conducted with several conventional controllers to validate the effectiveness of the algorithm using computer simulations. [ABSTRACT FROM AUTHOR]

This work presents the results of experimental operation of a solar‐driven climate system using mixed‐integer nonlinear model predictive control (MPC). The system is installed in a university building and consists of two solar thermal collector fields, an adsorption cooling machine with different operation modes, a stratified hot water storage with multiple inlets and outlets as well as a cold water storage. The system and the applied modeling approach is described and a parallelized algorithm for mixed‐integer nonlinear MPC and a corresponding implementation for the system are presented. Finally, we show and discuss the results of experimental operation of the system and highlight the advantages of the mixed‐integer nonlinear MPC application. [ABSTRACT FROM AUTHOR]

As transportation becomes more demanding in modern communities, the challenges involved such as congestion and emissions grow more concerns. Intelligent transportation system (ITS) is one of the most recognizable solution to resolve the problem. One of the components of an ITS is intelligent intersections that use vehicle‐to‐vehicle (V2V) and vehicle‐to‐infrastructure (V2I) communications to reduce the waiting time and consequently the idling time and emission of the vehicles. To implement different control strategies to reach the aforementioned objectives, a validated platform is required to simulate the real‐world traffic flow. To this end, Simulation of Urban Mobility (SUMO) software along with real data are utilized for developing two control strategies: Single Vehicle Speed Advisory Algorithm (SVSAA) and Platoon Speed Advisory Algorithm (PSAA). The results of real‐world simulation demonstrate that the proposed schemes are able to reduce the waiting time, fuel consumption, and emissions significantly compared with the baseline strategy. Moreover, it turns out that PSAA scheme implementation via model predictive controller may totally eliminate the congestion at the intersection. [ABSTRACT FROM AUTHOR]

Trajectory planning for a redundant manipulator is a classic problem. However, because it is difficult to precisely evaluate its maximum performance, an optimization method has been typically used. In this study, a novel time-optimal trajectory planning method for a redundant manipulator is proposed using the model predictive control (MPC) augmented by the maximum performance evaluation (MPE). First, the optimization formulation is expressed to evaluate the maximum performance of the distributed-actuation-mechanism-based three-revolute-joint manipulator (DAM-3R), which has a high level of redundancy, and the joint-actuation-mechanism-based three-revolute-joint manipulator (JAM-3R) for comparison. The optimization is conducted by linking the multibody dynamics analysis module and the optimization module. For time-optimal trajectory planning, the MPC problem is then formulated using mathematical performance models for the DAM-3R and JAM-3R based on the MPE results, which are considered as the upper bound of the manipulator performance at each end-effector position. To verify the proposed method, a point-to-point task with no predefined path is investigated. The simulation results show that the working time of the DAM-3R is 19.1% less than that of the JAM-3R. Moreover, the energy consumption for the DAM-3R is 45.0% lower than that for the JAM-3R by optimally utilizing the higher redundancy of the DAM-3R. Thus, it can be concluded that the proposed method is effective for time-optimal trajectory planning for redundant manipulators. [ABSTRACT FROM AUTHOR]

In this paper, heating and ventilation air conditioning system (HVAC) dataset for a medium-large size building in Romania has been used. It has been collected in one year. Linear state-space model of each air handling unit (AHU) has been estimated using two methods. Recursive extended least squares (RELS) algorithm has been used to estimate the state-space model in one year and seasonal form in the first method. In the second method, a linear time-series neural network has been used for estimating the state-space model in one year form. The constrained distributed model predictive controller has been applied to each AHU state-space model that was estimated before. Every AHU unit energy consumption has been calculated after applying DMPC controller and PI controller on estimated models using simulation results. Results have been compared with energy consumption calculated using the dataset. The mean of energy consumption reduction with 2 approaches is about 36.94%. [ABSTRACT FROM AUTHOR]

The study of human balance recovery strategies is important for human balance rehabilitation and humanoid robot balance control. To date, many efforts have been made to improve balance during quiet standing and walking motions. Arm usage (arm strategy) has been proposed to control the balance during walking motion in the literature. However, limited research exists on the contributions of the arm strategy for balance recovery during quiet standing along with ankle and hip strategy. Therefore, in this study, we built a simplified model with arms and proposed a controller based on nonlinear model predictive control to achieve human-like balance control. Three arm states of the model, namely, active arms, passive arms, and fixed arms, were considered to discuss the contributions of arm usage to human balance recovery during quiet standing. Furthermore, various indexes such as root mean square deviation of joint angles and recovery energy consumption were verified to reveal the mechanism behind arm strategy employment. In this study, we demonstrate to computationally reproduce human-like balance recovery with and without arm rotation during quiet standing while applying different magnitudes of perturbing forces on the upper body. In addition, the conducted human balance experiments are presented as supplementary information in this paper to demonstrate the concept on a typical example of arm strategy. [ABSTRACT FROM AUTHOR]

Connected and automated vehicles (CAVs) have great potential to smooth mixed traffic flow. To focus on the fact that the driving styles of HDVs are time-varying, a new control framework based on time-varying model predictive control (MPC) is proposed for mixed traffic flow in longitudinal control. Firstly, a genetic algorithm can be employed to calibrate the parameters of the car-following model based on offline trajectory data, representing the long-term driving style of HDVs. Secondly, the short-term driving style is recognized through modifying the long-term driving style based on real-time trajectory data within a sliding window. Then, this paper seeks to design a time-varying MPC control framework to realize a smoother mixed traffic flow. Finally, compared to the baseline model, the method we proposed achieves the high-performance both in fuel consumption and driving comfort under various scenarios, and maintains fast online calculations. Besides, it also displays the significant potential of saving fuel consumption in a large-scale traffic system, reducing by over 11.28% with 17∼33% penetration rates of CAVs. • A car-following model with time-varying parameters for HDVs is proposed. • An updating mechanism for real-time parameters of the car-following model is presented. • A controller is designed based on time-varying MPC for smoothing mixed traffic flow. [ABSTRACT FROM AUTHOR]

• An MPC energy management strategy for power-split hybrid electric vehicles is proposed. • A universal parametric internal model for multimode power-split transmissions is used. • The discrete mode switch is integrated within the continuous MPC framework. • The transmission meshing losses are included. • A comparison of MPC internal models with different complexity is performed. Model predictive control (MPC) is one of the most promising energy management strategies for hybrid electric vehicles. However, owing to constructive complexity, the multimode power-split powertrain requires dedicated mathematical tools to model the mode switch and transmission power losses within the internal model of the controller. Thus, the transmission losses are usually neglected and the mode switch is optimised through offline simulations. This paper proposes an MPC internal model relying on a parametric approach available in the literature, which provides a unique formulation for modelling any power-split transmission and assesses the transmission meshing losses. The objectives, which cover a gap in the literature, are: 1) to integrate the discrete problem of the mode switch in a continuous formulation of the internal model; 2) to compare MPC internal models with different complexity, and evaluate how the consideration of meshing losses and efficiency of the electric machines affect the controller performance. The results on a case study vehicle, i.e., the Chevrolet Volt, suggest that a simplified internal model deteriorates the fuel consumption performance by less than 2 %, while the integrated mode switch is comparable to the offline strategy. [ABSTRACT FROM AUTHOR]

The problem addressed in this work is the enhancement of energy efficiency in buildings, primarily focused on heating control. The paper highlights the importance of addressing this challenge, given that HVAC systems are responsible for over 60% of total energy consumption in buildings, making them the largest energy consumers in both the residential and nonresidential sectors. This paper presents a methodology for developing a model predictive control (MPC) system based on artificial neural network (ANN) models, with the aim of improving the energy efficiency of buildings. This approach involves the creation of a training dataset using dynamic thermal simulation tools, enabling the learning of the ANN model that is responsible for predicting future states within an MPC optimization loop. Additionally, the implementation leverages advanced technologies such as Field-Programmable Gate Arrays (FPGAs), specifically the PYNQ board, Wi-Fi modules, and MQTT communication to enhance scalability, deployment, and adaptability. The study evaluates the proposed Neural Network Model Predictive Control (NNMPC) strategy implemented on the PYNQ, reporting a substantial reduction of 38.53% in heating energy consumption in buildings compared to a basic On/Off control approach for 24-hour simulation. This outcome underscores the solutions significant potential for energy savings in building heating systems. [ABSTRACT FROM AUTHOR]

Multi-power sources are included in hybrid electrical vehicles, which leads to multi-driving modes co-existing when driving the vehicle. However, the frequent driving mode switching (DMS) will probably need the engine to be started frequently, which can result in extra fuel consumption. So, avoiding unnecessary DMS should be fully considered when designing the control strategy. For solving this problem, a model predictive control (MPC) strategy integrating Markov chain driving intention identification is put forward. First, the component models of the powertrain system are established. Second, according to the real driving cycle data, a driving intention model based on the Markov chain is designed according to the real driving cycle data. Then the MPC-based control strategy aiming at reducing DMS times is proposed by integrating the cost of DMS. Finally, the proposed control strategy is contrasted with three other control strategies to verify its validity in reducing the mode switching times and improving the fuel economy. [ABSTRACT FROM AUTHOR]

• Overview of modeling approaches, formulations, problem classes, and solution techniques. • Overview of methods for uncertainty mitigation. • Overview of tools for modeling, co-simulation, control design, and optimization. • A unified framework with focus on the real-world applications. • Standardized control performance assessment methodology. It has been proven that advanced building control, like model predictive control (MPC), can notably reduce the energy use and mitigate greenhouse gas emissions. However, despite intensive research efforts, the practical applications are still in the early stages. There is a growing need for multidisciplinary education on advanced control methods in the built environment to be accessible for a broad range of researchers and practitioners with different engineering backgrounds. This paper provides a unified framework for model predictive building control technology with focus on the real-world applications. From a theoretical point of view, this paper presents an overview of MPC formulations for building control, modeling paradigms and model types, together with algorithms necessary for real-life implementation. The paper categorizes the most notable MPC problem classes, links them with corresponding solution techniques, and provides an overview of methods for mitigation of the uncertainties for increased performance and robustness of MPC. From a practical point of view, this paper delivers an elaborate classification of the most important modeling, co-simulation, optimal control design, and optimization techniques, tools, and solvers suitable to tackle the MPC problems in the context of building climate control. On top of this, the paper presents the essential components of a practical implementation of MPC such as different control architectures and nuances of communication infrastructures within supervisory control and data acquisition (SCADA) systems. The paper draws practical guidelines with a generic workflow for implementation of MPC in real buildings aimed for contemporary adopters of this technology. Finally, the importance of standardized performance assessment and methodology for comparison of different building control algorithms is discussed. [ABSTRACT FROM AUTHOR]

Conventional speed planning for connected automated vehicles (CAVs) adopts an energy-centric perspective and improves fuel economy by means of reducing the power loss due to braking and operating the engine at its high efficiency region. This paper considers a simulated connected automated truck with a diesel powertrain and a selective catalytic reduction (SCR) system for the treatment of NOx emissions, and first shows that a 20% fuel economy improvement is followed by up to 50% increase in NOx emissions with conventional speed planning due to its sole focus on energy that neglects emissions. Then, a novel model predictive controller (MPC) is designed for concurrent treatment of energy and emissions within speed planning of the CAV. Details of this energy and emissions conscious (E 2 C) MPC design are described, including the vehicle, powertrain and emission model development, selection of the appropriate objective function and its parameters for acceptable optimality, and computational performance. Simulation results of the E 2 C-MPC over multiple drive cycles are presented to demonstrate the robust performance of the controller. The results show 5–15% improvement in the fuel economy with a corresponding 0–25% reduction in NOx emissions for different drive cycles without requiring re-calibration for each test cycle. [ABSTRACT FROM AUTHOR]

This paper proposes an optimal control scheme for space debris deorbit by a space tethered system with minimal fuel consumption. The scheme includes two phases, the offline phase and online control phase. The offline phase involves an open-loop control trajectory optimization, which is derived by solving an optimal fuel consumption deorbit problem of the tethered system. A direct collocation method based on Gauss pseudospectral method is adopted to obtain the optimal trajectory. The online control phase concerns the closed-loop optimal control for tracking the optimal reference trajectory using the model predictive control method. Numerical results show that the proposed scheme can achieve space debris deorbiting to a graveyard orbit safely, economically and efficiently. • Gauss pseudospectral method is adopted to solve the optimal fuel consumption deorbit problem of the tethered system. • Major risks of tether based debris removal, such as tether slackness, winding, and end-bodies collisions are avoided. • Deviations of the TSS's state variables caused by model inaccuracy and perturbations are suppressed. • The fuel consumption is 1.007 times of that required by Hohmann transfer of single spacecraft. [ABSTRACT FROM AUTHOR]

Forecasts of temperature in a "smart" building, i.e. one that is outfitted with sensors, are computed from data gathered by these sensors. Model predictive controllers can use accurate temperature forecasts to save energy by optimally using heating, ventilation and air conditioners while achieving comfort. We report on experiments from such a house. We select different sets of sensors, build a temperature model from each set, and compare the accuracy of these models. While a primary goal of this research area is to reduce energy consumption, in this paper, besides the cost of energy, we consider the cost of data collection and management. Our approach informs the selection of an optimal set of sensors for any model predictive controller to reduce overall costs, using any forecasting methodology. We use lasso regression with lagged observations, which compares favourably to previous methods using the same data. [ABSTRACT FROM AUTHOR]