Optimal control of nonlinear systems: a predictive control approach

Chen, Wen‐Hua; Ballance, D.J.; Gawthrop, P.J.

doi:10.1016/s0005-1098(02)00272-8

Cited by 353 publications

(242 citation statements)

References 12 publications

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“…Different from most of the conventional NMPC algorithms for nonlinear systems [8,9,10], the tracking problem is considered in this paper, following [7,14]. That is, a predictive controller is designed such that the output, y, optimally follows an reference signal ω in terms of a given performance index.…”

Section: For All X and Umentioning

confidence: 99%

“…Invoking (8)(9)(10)(11)(12)(13)(14) into (7), the output in the receding horizon is approximated by its…”

Section: For All X and Umentioning

confidence: 99%

“…With this limitation, it is understandable that poor performance might be resulted. Actually [14] shown that a nonlinear system with high relative degree under the NMPC law developed in this way is unstable, no matter how small the receding horizon is chosen.…”

Section: Introductionmentioning

confidence: 99%

“…To find the analytic solution for NMPC, a set of very complicated nonlinear coupling equations in terms of control effort and its derivatives, which is derived from the optimal condition, still has to be solved. The analytic solution of the nonlinear coupling equations and then the closed-form NMPC for nonlinear systems approximated by Taylor series expansion to arbitrarily chosen order was found in [14]. Furthermore, the stability result for analytic NMPC was first established, and the influence of the control order and predictive horizon on the transient performance was investigated.…”

Section: Introductionmentioning

confidence: 99%

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Predictive control of general nonlinear systems using approximation

Chen

2004

IEE Proceedings - Control Theory and Applications

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This paper addresses a tracking problem for general nonlinear systems using model predictive control (MPC). After approximating the tracking error in the receding horizon by its Taylor series expansion to any specified order, an analytic solution to the MPC is developed and a closed-form nonlinear predictive controller is presented. Different from other nonlinear model predictive control (NMPC), there is a built-in integral action in the developed scheme and the implementation issues are discussed.Further more, it is pointed out that the proposed NMPC derived using approximation can stablise the original nonlinear systems if certain condition, which can be met by properly choosing predictive times and the order for Taylor expansion, is satisfied.Simulation demonstrates the effectiveness of the proposed NMPC.

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Section: For All X and Umentioning

confidence: 99%

“…Invoking (8)(9)(10)(11)(12)(13)(14) into (7), the output in the receding horizon is approximated by its…”

Section: For All X and Umentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Predictive control of general nonlinear systems using approximation

Chen

2004

IEE Proceedings - Control Theory and Applications

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“…Therefore for a good design, it is necessary that an actual model for automotive used. In this paper, according to system requirements, an optimal nonlinear approach [11][12][13] is applied. Similar to this method has been used for control of yaw dynamics to improve vehicle lateral stability [14], [15].…”

Section: Introductionmentioning

confidence: 99%

A New Optimal Nonlinear Approach to Half Car Active Suspension Control

Hassanzadeh¹,

Alizadeh²,

Shirjoposht³

et al. 2010

IJET

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Abstract-In this paper, a nonlinear optimal control law based on a quadratic cost function is developed, and applied on a half-car model for the control of active suspension systems. Nonlinear model of half-car is constructed using the nonlinear dynamics of the electro hydraulic actuator and dynamic characteristics of the dampings and springs. The states of half car model are first estimated by Extended Kalman Filter (EKF) and then the estimated states predicted by Taylor series expansion and finally a control law is introduced by minimizing the local differences between the predicted and desired states. The derived control law has an analytical form which is easy to apply and also it is not required online numerical computations in optimization. Performance of the nonlinear optimal controller is compared to the existing passive suspension system and the proportional integral sliding mode controller. The obtained results demonstrate that use of the proposed nonlinear optimal control technique improves the tradeoff between ride quality and suspension travel compared to the passive suspension system and the proportional integral sliding mode method.Index Terms-nonlinear optimal control, active suspension, nonlinear model, Extended Kalman Filter, proportional integral sliding mode. I. INTRODUCTIONThe important functionality of the vehicle suspension system is to support the vehicle body as well as to provide the riding comfort to the passengers by rejecting the unpleasant vibratory motion induced from the irregular road inputs. Also, the suspension should maintain adequate vertical load to provide the vehicle stability when the car turns, brakes or accelerates [1]. The vehicle stability and riding comfort has mutually adverse effects, therefore, simply the passive damper, which is widely used in the usual vehicle, could not satisfy the riding comfort as well as driving stability simultaneously. To overcome this problem many researchers have proposed to use active suspensions [2]. Unlike passive systems which can only store or dissipate energy, active suspensions can continuously change the energy flow to or from the system when required. Furthermore, characteristics of active suspensions can adapt to instantaneous changes in driving conditions detected by sensors. As a result active suspensions can improve both riding comfort and handling performance to satisfactory levels. (Phone: +98-411-339 3728; fax: +98-411-3300819; e-mail: izadeh@ tabrizu.ac.ir, izadeh@ieee.com).However, as the recent trends of the vehicle industry is to be luxurious and driver comfort is more required, the electrical controlled suspension system is now installed and widely utilized [3]. Especially, the active damper is widely adopted for the luxurious vehicle because it can overcome the shortage of the passive damper by providing the ride comfort and vehicle stability at the same time. In the active suspension system, the sprung mass can vary according to the variation of passenger numbers and cargo as well as fuel loading condition. Also th...

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Disturbance observer based generalized wind/solar/battery consistent control strategy for AC microgrids

Wang

Sun

et al. 2020

Int Trans Electr Energ Syst

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Although the distributed renewable energy source is an advisable solution for ac microgrids to reduce fuel consumption and CO 2 emission, the fluctuation and uncertainty of renewable energy source also brings significant problem to the safe and stable operation. Based on this, a disturbance observer method based on generalized wind/solar/battery consistent model is proposed in the primary control level. Firstly, it is through establishing the analogy model between the interface wind rectifier circuit and the interface solar/battery boost circuit that the equivalent model of the isomorphic solar/wind/battery with single input and single output (SISO) is first proposed in this article. With this effort, the wind, solar, and battery can achieve the consistency of the generalized model, which reduces the design complexity of the following control strategy. Furthermore, in order to solve the fluctuation and uncertainty problems, a continuous-time disturbance observer is introduced to control the equivalent generalized SISO model, which can achieve quick response, stable operation, and no-difference adjustment under disturbance. Finally, the effectiveness of the proposed method is verified by simulation results.

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Optimal control of nonlinear systems: a predictive control approach

Cited by 353 publications

References 12 publications

Predictive control of general nonlinear systems using approximation

Predictive control of general nonlinear systems using approximation

A New Optimal Nonlinear Approach to Half Car Active Suspension Control

Disturbance observer based generalized wind/solar/battery consistent control strategy for AC microgrids

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