In this paper, a novel real time non-linear model predictive controller (NMPC) for a multi-variable coupled tank system (CTS) is designed. CTSs are highly non-linear and can be found in many industrial process applications. The involvement of multi-input multi-output (MIMO) system makes the design of an effective controller a challenging task. MIMO systems have inherent couplings, interactions ...

Abstract Time delays in communication networks are one of the main concerns deploying robots with computation boards on edge. This article proposes a multi-stage Nonlinear Model Predictive Control (NMPC) that is capable handling varying network-induced time for establishing control framework being able to guarantee collision-free Micro Aerial Vehicles (MAVs) navigation. study introduces novel a...

This letter presents a cooperative target defense strategy using nonlinear model-predictive control (NMPC) framework for two–target two–attacker (2T2A) problem. Each attacker needs to capture designated individually. The objective of the two targets is cooperate such that they lure attackers into collision. We assume do not have perfect knowledge states, and hence estimate states EKF. NMPC sche...

This paper presents a performance optimization algorithm for controller reconfiguration in fault tolerant distributed model predictive control for large-scale systems. After the fault has been detected and diagnosed, several controller reconfigurations are proposed as candidate corrective actions for the fault compensation. The solution of a set of constrained optimization problems with differe...

Sensitivity-based strategies for on-line moving horizon estimation (MHE) and nonlinear model predictive control (NMPC) are presented both from a stability and computational perspective. These strategies make use of full-space interior-point nonlinear programming (NLP) algorithms and NLP sensitivity concepts. In particular, NLP sensitivity allows us to partition the solution of the optimization ...

A nonlinear chemical/physical dynamic model in the form of partial differential equations was adopted and further developed to serve as a basis for model predictive control of a pellet reactor for drinking water softening. The model was calibrated using full-scale process measurements. A linear predictive controller based on a lineralization of the model has been designed to achieve the desired...

This paper studies on a fuzzy predictive model based high speed train fault tolerant control method, which is very important for high speed train’s high-precision control. After analyzing related research works about fault tolerant control and the development of modern high speed train, design of the high speed train fault tolerant control system is given. Afterwards, the high speed train fault...

Model Predictive Control (MPC) schemes are commonly using reference-tracking cost functions, which have attractive properties in terms of stability and numerical implementation. However, many control applications have clear economic objectives that can be used directly as the NMPC cost function. Such NMPC schemes are labelled Economic NMPC. Unfortunately, Economic NMPC schemes suffer from some ...

This document is a hands-on of Maple worksheet for automatic code generation and simulation system for nonlinear model predictive control (NMPC) . This method is well known as a fast algorithm and expected to real-time implementation in a system. This describes the components and usage of the automatic code generation system named "AutoGenU for Maple". This worksheet is required Maple 17 or lat...