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2.
The main control goal of the fed-batch process is to maximize the yield of target product as well as to minimize the operation costs simultaneously. Considering the existence of time delay and the switching nature in the fed-batch process, a time-delayed switched system is proposed to formulate the 1,3-propanediol (1,3-PD) production process. Some important properties of the system are also discussed. Taking the switching instants and the terminal time as the control variables, a free terminal time delayed optimal control problem is then presented. Using a time-scaling transformation and parameterizing the switching instants into new parameters, an equivalently optimal control problem is investigated. A numerical solution method is developed to seek the optimal control strategy by the smoothing approximation method and the gradient of the cost functional together with that of the constraints. Numerical results show that the mass of target product per unit time at the terminal time is increased considerably.  相似文献   

3.
The bio-dissimilation of glycerol to 1,3-propanediol (1,3-PD) is a complex bioprocess due to the multiple inhibitions of substrate and products onto the cell growth. In consideration of both the inhibition mechanisms of 3-hydroxypropionaldehyde (3-HPA) and the transport modes of glycerol and 1,3-PD across the cell membrane, we establish a novel switched system which is represented by a ten-dimensional nonlinear dynamical equation containing both extracellular and intracellular environments. The uncoupled microbial fed-batch fermentation process are modeled using the switched system which the glycerol and alkali are respectively poured into. Taking the feeding rates of glycerol and alkali, the switching times and the mode sequence as the control variables, an optimal control model is proposed with the concentration of the terminal time 1,3-PD as performance index. In order to maximize the yield of 1,3-PD, the control parameterization technique and the exact penalty function method are used to solve the considered problem. Numerical results show that under the obtained optimal feeding rates of glycerol and alkali, switching times and mode sequence, the productivity of 1,3-PD at the terminal time is increased significantly compared with previous results.  相似文献   

4.
This paper investigates the joint design of power control and beamforming codebooks for limited-feedback multiple-input single-output (MISO) wireless systems. The problem is formulated as the minimization of the outage probability subject to the transmit power constraint and cardinality constraints on the beamforming and power codebooks. We show that the two codebooks need to be designed jointly in this setup, and provide a numerical method for the joint optimization. For independent and identically distributed (i.i.d.) Rayleigh channel, we also propose a low-complexity approach of fixing a uniform beamforming codebook and optimizing the power codebook for that particular beamformer, and show that it performs very close to the optimum. Further, this paper investigates the optimal tradeoffs between beamforming and power codebook sizes. We show that as the outage probability decreases, optimal joint design should use more feedback bits for power control and fewer feedback bits for beamforming. The jointly optimized beamforming and power control modules combine the power gain of beamforming and diversity gain of power control, which enable it to approach the performance of the system with perfect channel state information as the feedback link capacity increases—something that is not possible with either beamforming or power control alone.  相似文献   

5.
This paper studies the event-triggered model predictive control (MPC) of a stabilizable linear continuous-time system. The optimization problem associated with the proposed MPC strategy is formulated exploiting newly designed control constraints. Compared with the conventional tube-based MPC, where the constant tightened control constraints are employed, the proposed MPC strategy exploits the time-varying control constraints, which allows the control signal to take larger values in the beginning along the prediction horizon, resulting in potentially improved system performance. The re-computation of the control signal is triggered by the deviation of the predicted system state and the real system state. Furthermore, conditions are derived based on which the design parameters can be tuned to ensure the recursive feasibility of the optimization and the stability of the closed-loop system. Finally, the effectiveness of the proposed MPC strategy is verified using a numerical example.  相似文献   

6.
In this paper, a robust self-triggered model predictive control (MPC) scheme is proposed for linear discrete-time systems subject to additive disturbances, state and control constraints. To reduce the amount of computation on controller sides, MPC optimization problems are only solved at certain sampling instants which are determined by a novel self-triggering mechanism. The main idea of the self-triggering mechanism is to choose inter-sampling times by guaranteeing a fast decrease in optimal costs. It implies a fast convergence of system states to a compact set where it is ultimately bounded and a reduction of computation times to stabilize the system. Once the state enters a terminal region, the system can be stabilized to a robust invariant set by a state feedback controller. Robust constraint satisfaction is ensured by utilizing the worst-case set-valued predictions of future states in such a way that recursive feasibility is guaranteed for all possible realisations of disturbances. In the case where a priority is given to reducing communication costs rather than improvement in control performance in a neighborhood of the origin, a feedback control law based on nominal state predictions is designed in the terminal region to avoid frequent feedback. Performances of the closed-loop system are demonstrated by a simulation example.  相似文献   

7.
This paper describes the application of the genetic algorithm for the optimization of the control parameters in parallel hybrid electric vehicles (HEV). The HEV control strategy is the algorithm according to which energy is produced, used, and saved. Therefore, optimal management of the energy components is a key element for the success of a HEV. In this study, based on an electric assist control strategy (EACS), the fitness function is defined so as to minimize the vehicle engine fuel consumption (FC) and emissions. The driving performance requirements are then considered as constraints. In addition, in order to reduce the number of the decision variables, a new approach is used for the battery control parameters. Finally, the optimization process is performed over three different driving cycles including ECE-EUDC, FTP and TEH-CAR. The results from the computer simulation show the effectiveness of the approach and reduction in FC and emissions while ensuring that the vehicle performance is not sacrificed.  相似文献   

8.
In this paper, a novel backstepping-based adaptive dynamic programming (ADP) method is developed to solve the problem of intercepting a maneuver target in the presence of full-state and input constraints. To address state constraints, a barrier Lyapunov function is introduced to every backstepping procedure. An auxiliary design system is employed to compensate the input constraints. Then, an adaptive backstepping feedforward control strategy is designed, by which the tracking problem for strict-feedback systems can be reduced to an equivalence optimal regulation problem for affine nonlinear systems. Secondly, an adaptive optimal controller is developed by using ADP technique, in which a critic network is constructed to approximate the solution of the associated Hamilton–Jacobi–Bellman (HJB) equation. Therefore, the whole control scheme consists of an adaptive feedforward controller and an optimal feedback controller. By utilizing Lyapunov's direct method, all signals in the closed-loop system are guaranteed to be uniformly ultimately bounded (UUB). Finally, the effectiveness of the proposed strategy is demonstrated by using a simple nonlinear system and a nonlinear two-dimensional missile-target interception system.  相似文献   

9.
The combined problems of cluster synchronization and disturbance rejection for a family of fractional-order complex networks subject to coupling delay, unknown uncertainty and disturbances (UDs) are examined in this study. In particular, the existence of coupling delay is taken into the account with both known and unknown cases. First, a new uncertainty and disturbance estimator (UDE)-based control protocol is formulated for the concerned system to estimate and compensate for the effects of UD. Although the UDE strategy has proven to be a viable tool to deal with slowly changing UDs in control design, the presence of rapidly changing UDs or sinusoidal disturbances is not an effective tool. A well-known modified iterative control (MRC) block is built internally in a closed feedback control loop to solve this problem. After implementing UDE and MRC blocks into the feedback loop, the resulting system becomes almost UD-free. Moreover, a set of sufficient linear matrix inequality constraints are established to ensure the cluster synchronization of the resulting system. Lastly, the benefits, feasibility and robustness of the established UDE-based MRC scheme are confirmed by two illustrative examples.  相似文献   

10.
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11.
The study aims to explore the optimal actuator switching scheme of observer-based event-triggered state feedback control for distributed parameter systems. The performance of distributed parameter systems is improved through the observer-based event-triggered control, in which the state feedback is updated only when a triggered event happens. In such an event-triggered mechanism, the event-based closed-loop system and minimum time interval between consecutive events are bounded. Based on finite horizon linear quadratic regulator (LQR) optimal control, the optimal switching algorithm is proposed based on the event-triggered mechanism during an unfixed time interval. Finally, the proposed scheme is verified through a simulation case.  相似文献   

12.
This paper focuses on binary optimal control of fed-batch fermentation of glycerol by Klebsiella pneumoniaewith pH feedback considering limited number of switches. To maximize the concentration of 1,3-propanediol at terminal time, we propose a binary optimal control problem subjected to time-coupled combinatorial constraint with the ratio of feeding rate of glycerol to that of NaOH as control variables. Based on time-scaling transformation and discretization, the binary optimal control problem is first transformed into a mixed binary parameter optimization problem consisting of not only continuous variables but also binary variables, which is then divided into two subproblems via combinatorial integral approximation decomposition. Finally, a novel fruit fly optimizer with modified sine cosine algorithm and adaptive maximum dwell rounding are applied to solve the obtained subproblems numerically. Numerical results show the rationality and feasibility of the proposed method.  相似文献   

13.
Vibration suppression of a structurally damped beam via open and closed-loop controls is investigated. In doing so, minimization of a weighted, energy-based performance measure leads to closed-form expressions for optimal open-loop parameters in terms of feedback gains. The control problem is then completed by optimizing these feedback parameters numerically. Methods to determine optimal terminal time of control are also presented. Furthermore, techniques are established to optimize the response and performance of a system experiencing a known feedback time delay. Different types of optimization are proposed and, for each one, the trade-off between performance and computational efficiency is fully discussed.  相似文献   

14.
詹士昌  徐婕  吴俊 《科技通报》2004,20(2):138-141
蚁群算法是一种模拟进化算法，初步的研究表明该算法具有许多优良的性质．研究了一种可用于求解连续空间优化问题的蚁群算法策略，针对SISO离散时不变控制系统，在给出了加权矩阵Q与状态反馈阵K的取值范围确定方法的基础上，应用连续性空间优化问题的蚁群算法模型求解了离散LQ逆问题。仿真结果表明蚁群算法在求解控制优化问题中的有效性。  相似文献   

15.
In this paper, a distributed time-varying convex optimization problem with inequality constraints is discussed based on neurodynamic system. The goal is to minimize the sum of agents’ local time-varying objective functions subject to some time-varying inequality constraints, each of which is known only to an individual agent. Here, the optimal solution is time-varying instead of constant. Under an undirected and connected graph, a distributed continuous-time consensus algorithm is designed by using neurodynamic system, signum functions and log-barrier penalty functions. The proposed algorithm can be understood through two parts: one part is used to reach consensus and the other is used to achieve gradient descent to track the optimal solution. Theoretical studies indicate that all agents will achieve consensus and the proposed algorithm can track the optimal solution of the time-varying convex problem. Two numerical examples are provided to validate the theoretical results.  相似文献   

16.
This paper presents an integrated and practical control strategy to solve the leader–follower quadcopter formation flight control problem. To be specific, this control strategy is designed for the follower quadcopter to keep the specified formation shape and avoid the obstacles during flight. The proposed control scheme uses a hierarchical approach consisting of model predictive controller (MPC) in the upper layer with a robust feedback linearization controller in the bottom layer. The MPC controller generates the optimized collision-free state reference trajectory which satisfies all relevant constraints and robust to the input disturbances, while the robust feedback linearization controller tracks the optimal state reference and suppresses any tracking errors during the MPC update interval. In the top-layer MPC, two modifications, i.e. the control input hold and variable prediction horizon, are made and combined to allow for the practical online formation flight implementation. Furthermore, the existing MPC obstacle avoidance scheme has been extended to account for small non-apriorily known obstacles. The whole system is proved to be stable, computationally feasible and able to reach the desired formation configuration in finite time. Formation flight experiments are set up in Vicon motion-capture environment and the flight results demonstrate the effectiveness of the proposed formation flight architecture.  相似文献   

17.
In this paper, a compound control strategy is proposed to realize the trajectory tracking task of quadrotors under operating constraints and disturbances. Disturbances caused by model uncertainties, environmental noises, and measurement disturbances are divided into matched disturbances and unmatched ones, which are compensated and suppressed separately by using two control components. The integral sliding mode control component is designed to actively reject the matched disturbances, and the control system is then transformed into an equivalent control system subject to equivalent disturbances only related to the unmatched disturbances. The remaining equivalent disturbances are treated by a robust model predictive control component based on the idea of constraints tightening, which minimizes the tracking error in an optimization framework and takes both state and input constraints into account explicitly. The derived compound control strategy is based on these two control components. Conditions are provided to guarantee the robust constraint satisfaction, recursive feasibility and closed-loop stability of the tracking error system. An illustrative example on the quadrotors shows the efficiency and robustness of this compound tracking control algorithm.  相似文献   

18.
In the existing efficient robust model predictive control (ERMPC) algorithms (see e.g. [14,31,32]), through offline optimization and online lookup table calculation, a fixed state feedback control law or a linear interpolated control law is applied to a system when the system state lies between two adjacent polyhedrons, which undoubtedly will result in conservativeness of the controller. Faced with this issue, an improved ERMPC algorithm is proposed in this paper, which considers the nonlinearity between the state feedback control laws with respect to polyhedrons and the norm distance from system state to origin, and can provide continuously variable state feedback control law varying with the state. First, a set of polyhedral parameters and their corresponding state feedback control law sequences are obtained offline by solving a set of LMIs optimization problems. Next, for each state feedback control law sequence, a nonlinear fitting function is established offline between the state feedback control law and its serial number. Then a simplified lookup table is constructed offline to save memory space and shorten online computation time of the controller. According to the simplified lookup table and information of the norm distance from system state to origin, we online establish the coordinate of current state in the nonlinear fitting curve for getting current feedback control law, which changes continuously with the state. The proposed ERMPC algorithm is successfully applied to an actual fast-responding linear one stage inverted pendulum (LOSIP) system to verify its effectiveness.  相似文献   

19.
The main challenges of modular robot manipulators (MRMs) with the environmental constraints include the avoidance of catastrophic collision and the precious contacting in the whole interaction process. Consequently, an event-triggered optimal interaction control method of MRMs under the complex multi-task constraints is presented in this paper. Firstly, on the basis of the joint torque feedback (JTF) technique, the dynamic model of constrained MRM subsystem is established. Secondly, the sensorless-based decentralized nonlinear disturbance observer (NDOB) is proposed to detect and identify the sudden external collision for each joint. Then, the performance index function is improved to achieve the interaction control, which contains the fusion state variable function, the influence of external collision, the known model term, and the estimation of model uncertainties through the radial basis function neural network (RBFNN) identifier. Further, based on event-triggered mechanism and adaptive dynamic programming (ADP) algorithm, the approximate event-triggered optimal interaction control strategy is acquired by the critic neural network (NN). Next, the closed-loop MRM system is demonstrated to be uniformly ultimately bounded (UUB) through the Lyapunov stability theorem. Finally, the experiments are achieved effectively for each joint on the platform, such that the feasibility and universality of the proposed interaction control approach are testified by the experimental results.  相似文献   

20.
This paper addresses a robust tube based model predictive control (RTBMPC) strategy for tracking problem of piecewise affine (PWA) linear systems. The core idea of the RTBMPC strategy is to robustly control an uncertain system through its nominal system and an additional feedback term which rejects a bounded additive disturbance. In tracking problem, RTBMPC strategy should be capable to steer the uncertain system to a given setpoint fulfilling the constraints. But if the setpoint changes, the controller may not success due to the loss of feasibility of the optimization problem. This paper employs several novel features to deal with tracking problem. First, the tracking problem is converted into the regulation problem by introducing an extra system called regulation nominal system that its constraints are translated from tracking into regulation. It leads to a reduction in complexity of the objective function. Then, the feasibility region is enlarged for given setpoint without increasing the prediction horizon by changing the terminal constraint set at different steps of RTBMPC problem solving. Simulation examples, including two different case studies, are presented to illustrate the effectiveness of the proposed RTBMPC.  相似文献   

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