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Model Predictive Path Planning of AGVs: Mixed Logical Dynamical Formulation and Distributed Coordination

Xin, Jianbin (author), Wu, Xuwen (author), D'Ariano, Andrea (author), Negenborn, R.R. (author), Zhang, Fangfang (author)

Most of the existing path planning methods of automated guided vehicles (AGVs) are static. This paper proposes a new methodology for the path planning of a fleet of AGVs to improve the flexibility, robustness, and scalability of the AGV system. We mathematically describe the transport process as a dynamical system using an ad hoc mixed...

journal article 2023

document

HAPPy to Control: A Heuristic And Predictive Policy to Control Large Urban Drainage Systems

van der Werf, Job (author), Kapelan, Z. (author), Langeveld, J.G. (author)

Model Predictive Control (MPC) of Urban Drainage Systems (UDS) has been established as a cost-effective method to reduce pollution. However, the operation of large UDS (containing over 20 actuators) can only be optimized by oversimplifying the UDS dynamics, potentially leading to a decrease in performance and reduction in users' trust, thus...

journal article 2023

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A traffic responsive control framework for signalized junctions based on hybrid traffic flow representation

Storani, Facundo (author), Di Pace, Roberta (author), De Schutter, B.H.K. (author)

The paper proposes a traffic responsive control framework based on a Model Predictive Control (MPC) approach. The framework focuses on a centralized method, which can simultaneously compute the network decision variables (i.e., the green timings at each junction and the offset of the traffic light plans of the network). Furthermore, the...

journal article 2022

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Curve Tilting With Nonlinear Model Predictive Control for Enhancing Motion Comfort

Zheng, Y. (author), Shyrokau, B. (author), Keviczky, T. (author), Sakka, Monzer Al (author), Dhaens, Miguel (author)

The benefits of automated driving can only be fully realized if the occupants are protected from motion sickness. Active suspensions hold the potential to raise the comfort level in automated passenger vehicles by enabling new functionalities in chassis control. One example is to actively lean the vehicle body toward the center of the corner...

journal article 2022

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Development of a Python tool based on model predictive control for an optimal management of the Calais canal

Pour, Fatemeh Karimi (author), Duviella, Eric (author), Segovia Castillo, P. (author)

Model predictive control (MPC) has been widely employed to control a large variety of water systems, such as dams, irrigation canals, inland waterways, drinking water networks and wastewater treatment plants. Its predictive capabilities and the possibility to incorporate constraints make MPC well suited to address several, and sometimes...

journal article 2022

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Distributed Demand Side Management With Stochastic Wind Power Forecasting

Scarabaggio, P. (author), Grammatico, S. (author), Carli, Raffaele (author), Dotoli, Mariagrazia (author)

In this article, we propose a distributed demand-side management (DSM) approach for smart grids taking into account uncertainty in wind power forecasting. The smart grid model comprehends traditional users as well as active users (prosumers). Through a rolling-horizon approach, prosumers participate in a DSM program, aiming at minimizing...

journal article 2022

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An MHE-based MPC strategy for simultaneous energy generation maximization and water level management in inland waterways

Pour, Fatemeh Karimi (author), Segovia Castillo, P. (author), Etienne, Lucien (author), Duviella, Eric (author)

This paper proposes a combined control and state estimation strategy for inland waterways, aiming at simultaneously attaining the optimal water level management and maximizing hydroelectricity generation. The latter can be realized by turbines installed in canal locks that harness the energy generated during lock filling and draining...

journal article 2022

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Robust Locomotion Exploiting Multiple Balance Strategies: An Observer-Based Cascaded Model Predictive Control Approach

Ding, J. (author), Han, Linyan (author), Ge, Ligang (author), Liu, Yizhang (author), Pang, Jianxin (author)

Robust locomotion is a challenging task for humanoid robots, especially when considering dynamic disturbances. This article proposes a disturbance observer-based cascaded model predictive control (MPC) approach for bipedal locomotion, with the capability of exploiting ankle, stepping, hip and height variation strategies. Specifically, based...

journal article 2022

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Continuous Reduced-Order Dynamic Model Based on Energy Balancing for Inductive Power Transfer Systems

Shi, W. (author), Dong, J. (author), Soeiro, Thiago B. (author), Deng, Junjun (author), Riekerk, C. (author), Bauer, P. (author)

Resonant circuits are commonly used in inductive power transfer (IPT) systems for the charging of electric vehicles because of the high power efficiency. Transient behaviors of the resonant circuits, which play a significant role in the design and analysis of IPT systems, are cumbersome to model analytically because of the high-order. This...

journal article 2022

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MPC Framework for the Energy Management of Hybrid Ships with an Energy Storage System

Antonopoulos, S. (author), Visser, K. (author), Kalikatzarakis, Miltiadis (author), Reppa, V. (author)

This paper proposes an advanced shipboard energy management strategy (EMS) based on model predictive control (MPC). This EMS aims to reduce mission-scale fuel consumption of ship hybrid power plants, taking into account constraints introduced by the shipboard battery system. Such constraints are present due to the boundaries on the battery...

journal article 2021

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A Distributed Augmented Lagrangian Method over Stochastic Networks for Economic Dispatch of Large-Scale Energy Systems

Ananduta, W. (author), Ocampo-Martinez, Carlos (author), Nedic, Angelia (author)

In this paper, we propose a distributed model predictive control (MPC) scheme for economic dispatch of energy systems with a large number of active components. The scheme uses a distributed optimization algorithm that works over random communication networks and asynchronous updates, implying the resiliency of the proposed scheme with respect...

journal article 2021

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MPC Based Centralized Voltage and Reactive Power Control for Active Distribution Networks

Nguyen, Hoa Minh (author), Rueda, José L. (author), Lekić, A. (author), Pham, Hoan Van (author)

The paper presents an approach for online centralized control in active distribution networks. It combines a proportional integral (PI) control unit with a corrective control unit (CCU), based on the principle of Model Predictive Control (MPC). The proposed controller is designed to accommodate the increasing penetration of distributed...

journal article 2021

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Gas Turbines Power Regulation Subject to Actuator Constraints, Disturbances and Measurement Noises

Nasiri, Ali (author), Bayat, Farhad (author), Mobayen, Saleh (author), Hassan HosseinNia, S. (author)

An accurate understanding of the output power functionality in gas turbines concerning the fuel, inlet valve status and other parameters can provide a general overview of the turbine's performance. In this study, the problem of practical power regulation in gas turbines is investigated in the simultaneous presence of actuator constraints,...

journal article 2021

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Survey on Wheel Slip Control Design Strategies, Evaluation and Application to Antilock Braking Systems

Pretagostini, Francesco (author), Ferranti, L. (author), Berardo, Giovanni (author), Ivanov, Valentin (author), Shyrokau, B. (author)

Since their introduction, anti-lock braking systems (ABS) have mostly relied on heuristic, rule-based control strategies. ABS performance, however, can be significantly improved thanks to many recent technological developments. This work presents an extensive review of the state of the art to verify such a statement and quantify the benefits...

journal article 2020

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Preventing wind turbine tower natural frequency excitation with a quasi-LPV model predictive control scheme

Mulders, S.P. (author), Hovgaard, Tobias Gybel (author), Grunnet, Jacob Deleuran (author), van Wingerden, J.W. (author)

With the ever increasing power rates of wind turbines, more advanced control techniques are needed to facilitate tall towers that are low in weight and cost-effective but in effect more flexible. Such soft-soft tower configurations generally have their fundamental side-side frequency in the below-rated operational domain. Because the turbine...

journal article 2020

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Optimal Control for Precision Irrigation of a Large‐Scale Plantation

Kassing, R.C. (author), De Schutter, B.H.K. (author), Abraham, E. (author)

Distributing water optimally is a complex problem that many farmers face yearly, especially in times of drought. In this work, we propose optimization‐based feedback control to improve crop yield and water productivity in agriculture irrigation for a plantation consisting of multiple fields. The interaction between soil, water, crop (sugarcane...

journal article 2020

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Efficient freeway MPC by parameterization of ALINEA and a speed-limited area

van de Weg, Goof Sterk (author), Hegyi, A. (author), Hoogendoorn, S.P. (author), De Schutter, B.H.K. (author)

Freeway congestion can reduce the freeway throughput due to the capacity drop or due to blocking caused by spillback to upstream ramps. Research has shown that congestion can be reduced by the application of ramp metering and variable speed limits. Model predictive control is a promising strategy for the optimization of the ramp metering...

journal article 2019

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Lane-Change Intention Estimation for Car-Following Control in Autonomous Driving

Zhang, Yihuan (author), Lin, Q. (author), Wang, Jun (author), Verwer, S.E. (author), Dolan, John M. (author)

Car-following is the most general behavior in highway driving. It is crucial to recognize the cut-in intention of vehicles from an adjacent lane for safe and cooperative driving. In this paper, a method of behavior estimation is proposed to recognize and predict the lane change intentions based on the contextual traffic information. A model...

journal article 2018

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Model-based predictive control for bicycling in urban intersections

Portilla, C (author), Valencia, F (author), Espinosa, J (author), Nunez, Alfredo (author), De Schutter, B.H.K. (author)

In this paper, a model predictive control approach for improving the efficiency of bicycling as part of intermodal transportation systems is proposed. Considering a dedicated bicycle lanes infrastructure, the focus in this paper is to optimize the dynamic interaction between bicycles and vehicles at the multimodal urban traffic intersections. In...

journal article 2016

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Time-Varying Scheme for Non-Centralized Model Predictive Control of Large-scale Systems

Nunez Vicencio, A.A. (author), Ocampo-Martinez, C. (author), Maestre, J.M. (author), De Schutter, B.H.K. (author)

The Non-Centralized Model Predictive Control (NC-MPC) framework refers in this paper to any distributed, hierarchical, or decentralized model predictive controller (or a combination of them) the structure of which can change over time and the control actions of which are not obtained based on a centralized computation. Within this framework, we...

journal article 2015