Nonlinear Model Predictive Control
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- Опубліковано 14 жов 2024
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This webinar begins with a quick and painless introduction to basic concepts of optimal control and model predictive control (MPC). We will derive Pontryagin’s maximum principle. The only prerequisite is familiarity with Lagrange multipliers. To solve optimality conditions in real time, the continuation GMRES method for nonlinear MPC will be introduced. This method has been implemented in a Maple application by Cybernet, Japan, available in the Application Center. We will review this worksheet, which includes automatic code generation for NMPC controllers. The example problem in this worksheet is to control the position and orientation of a hovercraft. You can easily change the definition of the system in the worksheet and generate a MPC controller for your application.
Hi, first of all thank you very much for your video. I am very interested in MPC and would like to apply it for my works about control and navigation of autonomous vehicles (air, surface and underwater robots). the problem is that vehicles normally maneuvers under unknown external disturbance environment (wind, current in ocean...) so the key requirement is that the controller must be robust. Although I am very interested in method of Prof. Ohtsuka but I dont know if it is robust with unknown external disturbance or not since there is no part in his paper (2004) showing this. Have you tried with a scenario that the Hover is stabilized with external disturbance ? Thank you and looking forward to hearing your reply.
Hello. Thanks for your interest. Please send an email to the Maplesoft tech support team at support@maplesoft.com. Thanks!
hello
how can i make predictive control of an asynchronous machine has dual power programe in matlab
thanks
hello
what is about the extended Kalman filter that must use in NMPC?
Hello - thanks for your question. The Extended Kalman filter is applied to measurements that are resultant in non-linear problems to linearise its description about a mean value which takes into account background noise. That said, Extended Kalman Filter is not yet available for Maple's Control Design package.
hi I want to use mpc for controlling the engine speed and torque for power split hybrid vehicle. I am using induction motor as engine how can I use mpc ?
Thank you for your interest in our product and its capabilities. Maplesoft is always happy to provide our customers with support in using and understanding our products. Unfortunately, the UA-cam comments section may not be the best place for a back and forth conversation about this technical topic. To better facilitate our conversation, please email Maplesoft Technical Support at support@maplesoft.com.
Hello,
I need to integrate the code of the controller into simulink. Is it possible ?
+Mohamed Abdelaal Absolutely. You can generate MATLAB code or C code from Maple equations or procedures using the CodeGeneration package. The MapleSim Connector add-on also has the ability to generate S-Function blocks directly for use in Simulink.
Dude you have a clear Persian accent😁