The concept of feedback motion planning is also fundamental within tube model predictive control tmpc, whereby one computes a tracking feedback also termed ancillary controller. In this work, a tube based robust model predictive controller is proposed for the robust control of a rendezvous maneuver. Robust model predictive control using tubes request pdf. Tube model predictive control with an auxiliary sliding mode. Since the beginning of the 1990s, a real boom in the number of industrial.
Pdf striped parameterized tube model predictive control. In the past decade, many of these approaches have been based in model predictive control. This paper develops a parameterized tube model predictive control mpc synthesis method. An improved pid controller design based on model predictive control for a shell and tube heat exchanger 1s. The method achieves a modest improvement over the disturbance invariant controller when the system being controlled is linear and timeinvariant but can also be used, unlike the disturbance invariant controller, when the system is timevarying or subject to parameter uncertainty. The method achieves a modest improvement over the disturbance. Constrained model predictive control mpc is a powerful control strategy where online optimization and a receding horizon are employed to compute the optimum trajectory. The deployment of tubes in robust model predictive control is made possible through a parameterization of the control policy that allows for the direct handling of uncertainty and its interaction with the system dynamics. A complete solution manual more than 300 pages is available for course instructors. Tube based model predictive control svr seminar 31012008. An improved pid controller design based on model predictive. In tube mpc, an ancillary feedback controller is designed to keep the actual state within an invari. The robust model predictive control for constrained linear discrete time systems is solved through the development of a homothetic tube model predictive control synthesis method.
The most relevant novel feature of our proposal is the online use of a single tractable linear program. Stabilizing tubebased model predictive control for. Especially, under timevarying boundary conditions, pde introduce force coupling. Optimal robust mpc for constrained linear systems that are subject to additive uncertainty requires a closed loop optimization with computation that rises exponentially with the prediction horizon,n.
This chapter provides a tutorial exposition of several smpc approaches. Model predictive control of vehicle maneuvers with. Tube model predictive control has been recognized as a milestone contribution to, and a major paradigm shift in, model predictive control under uncertainty. Nlc with predictive models is a dynamic optimization approach that seeks to follow. This work focuses on the development of reducedorder models roms of transportreaction processes described by nonlinear parabolic partial differential equations pdes and their. Theodorou abstractlearningbased control aims to construct models of a system to use for planning or trajectory optimization, e.
Tube model predictive control for a class of nonlinear discretetime systems hashem imani marrani1, samane fazeli2, hamid malekizade3 and hasan hosseinzadeh4 abstract. This cited by count includes citations to the following articles in scholar. Dynamic control is also known as nonlinear model predictive control nmpc or simply as nonlinear control nlc. Pdf tube model predictive control lecture course slides. A tutorial on model predictive control for spacecraft rendezvous. Lee school of chemical and biomolecular engineering center for process systems engineering georgia inst. However, this computational simplification may impair. Torsten koller, felix berkenkamp, matteo turchetta and. International journal of advanced polytopic linear parameter. A tutorial on model predictive control for spacecraft.
Numerous control approaches have been proposed in recent decades for handling such maneuvers. Model predictive control toolbox provides functions, an app, and simulink blocks for designing and simulating model predictive controllers mpcs. Pdf parameterized tube model predictive control rolf. The ones marked may be different from the article in the profile. This work focuses on the development of reducedorder models roms of transportreaction processes described by nonlinear parabolic partial differential equations pdes and their application in the formulation of economic model predictive control empc systems. Erictsengc and francesco borrellid adepartment of mechanical engineering, 2169 etcheverry hall, uc berkeley, berkeley, ca 94720, usa.
Robust model predictive control a story of tube model predictive. Handbook of model predictive control this work may. A robust adaptive model predictive control framework for. A successful method for model predictive control of constrained linear systems uses a local linear control law that, in the presence of disturbances. Tubebased robust nonlinear model predictive control imperial. Robust model predictive control a story of tube model. Abstract this paper addresses the problem of decentralized tubebased nonlinear model predictive control nmpc for a class of uncertain nonlinear continuoustime. Homothetic tube model predictive control sciencedirect. Tube model predictive control with an auxiliary sliding. By running closedloop simulations, you can evaluate controller performance.
Model predictive control offers several important advantages. Tubebased robust nonlinear model predictive control. The induced control policy enjoys a higher degree of nonlinearity than existing tube mpc and robust mpc using disturbance affine control policy. Pdf tubebased robust model predictive control for a. The toolbox lets you specify plant and disturbance models, horizons, constraints, and weights.
Model predictive control of vehicle maneuvers with guaranteed completion time and robust feasibility arthur richards 1 and jonathan p. Robust model predictive control using tubes sciencedirect. Macadams driver model 1980 consider predictive control design simple. Model predictive control mpc is an advanced control technique that employs an openloop online optimization in order to take account of system dynamics, constraints and control. Model predictive control mpc has become a core control strategy because of its natural ability to handle constraints and balance competing. Distributed parameter systems dps are formulated as partial differential equations pde. Model predictive control, also known as receding horizon control, is a popular control method for handling constraints both on. Learningbased model predictive control for safe exploration torsten koller, felix berkenkamp, matteo turchetta and andreas krause abstractlearningbased methods have been successful in solving complex control tasks without signi. Decentralized tubebased model predictive control of. Mpc model predictive control also known as dmc dynamical matrix control gpc generalized predictive control rhc receding horizon control control algorithms based on numerically solving an optimization problem at each step constrained optimization typically qp or lp receding horizon control. A method for achieving robust model predictive control using tubes has been presented and analyzed. Pdf the robust model predictive control for constrained linear discrete time systems is solved through the development of a homothetic tube. The results of sections 4 homothetic tube optimal control, 5 homothetic tube model predictive control apply under this simplification.
The concept history and industrial application resource. Tube based model predictive control svr seminar 31012008 control synthesis. Decentralized tubebased model predictive control of uncertain nonlinear multiagent systems alexandros nikou and dimos v. Rakovic is one of the global leaders in robust model predictive control, and one of the key pioneers of the tube model predictive control framework. This tube based robust model predictive control algorithm can deal with bounded disturbances which provides a strong guarantee. Handbook of model predictive control this work may not be copied or reproduced in whole or in part for any commercial purpose. Economic model predictive control of parabolic pde systems. Model predictive control mpc is an advanced control technique that employs an openloop online optimization in order to take account of system dynamics, constraints and control objectives and to. This paper signifies a tube model predictive control for discrete time uncertain nonlinear systems in the presence of bounded disturbances. Pdf homothetic tube model predictive control researchgate. Firstly, the nominal model predictive control law is constructed for the nominal system without disturbances.
Summary this paper addresses the problem of decentralized tube. This paper show how this procedure may be extended to provide robust model predictive control of constrained nonlinear systems. Tube model predictive control tmpc 414 constitutes a sensible approximate solution methodology. This file is a set of slides used in the specializedshort lecture courses, entitled tube model predictive control, held in the first week of september 2018 at ntnu, trondheim, norway and in the. In the past decade, many of these approaches have been based in model. In the first part of this thesis, the theory for rendezvous and proximity. Slotine abstractthe objective of this paper is to devise a systematic approach to apply the tube mpc framework to nonlinear continuoustime systems.
In order to obtain guarantees of safety in this context, uncertainty must be. However, this computational simplification may impair performance, speed of convergence and the size of the domain of attraction. Abstract this workshop introduces its audience to the theory, design and applications of model predictive control mpc under uncertainty. A tubebased robust nonlinear predictive control approach to semiautonomous ground vehicles yiqi gao a. Model predictive control, also known as receding horizon control, is a popular control method for handling constraints both on manipulated inputs and state variables within an optimal control setting. Pdf adaptive tubebased model predictive control for linear. Kannadasan 1assistant professor, svs college of engineering, coimbatore, india. Erictsengc and francesco borrellid adepartment of mechanical. Mpc is used extensively in industrial control settings, and. Model predictive control of vehicle maneuvers with guaranteed. A tubebased robust nonlinear predictive control approach. In the case of the flexible stacker crane stc, nonlinear coupling is introduced. The second edition of model predictive control provides a thorough introduction to theoretical and practical aspects of the most commonly used mpc strategies. Parameterized tube model predictive control request pdf.
In this work, a tubebased robust model predictive controller is proposed for the robust control of a rendezvous maneuver. Tube model predictive control for a class of nonlinear. Secondly, tube invariant set strategy is introduced for the unknown. Learningbased model predictive control for safe exploration torsten koller, felix berkenkamp, matteo turchetta and andreas krause abstractlearningbased methods have been. Theodorou abstractlearningbased control aims to construct models of a system to use. International journal of advanced polytopic linear. Model predictive control college of engineering uc santa barbara. Optimal robust mpc for constrained linear systems that are subject to additive uncertainty requires a closed loop optimization with computation that rises exponentially with the. The concept of feedback motion planning is also fundamental within tube model predictive control tmpc, whereby one computes a tracking feedback also termed ancillary controller that keeps the. Accordingly, online trajectory planning and tracking can be addressed using a nonlinear model predictive control nmpc. Parameterized tube model predictive control ieee xplore.
The deployment of tubes in robust model predictive control is made. Apr 02, 2015 dynamic control is also known as nonlinear model predictive control nmpc or simply as nonlinear control nlc. From power plants to sugar refining, model predictive control mpc schemes have established themselves as the preferred control strategies for a wide variety of processes. Model predictive control mpc is an advanced method of process control that is used to control a process while satisfying a set of constraints. Tubebased model predictive control for the approach. A novel tube model predictive control for surge instability. Open and closedloop optimization are considered and the state of the art in computationally tractable methods based on uncertainty tubes presented for systems with additive model. Pdf a tubebased robust model predictive control mpc is proposed to be applied in constrained linear systems with parametric uncertainty.
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