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constrained-predictive-controllers
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Simulation and Control of Anaerobic Reactors
, M.Sc. Thesis Sharif University of Technology ; Shahrokhi, Mohammad (Supervisor) ; Vafa, Ehsan (Supervisor)
Abstract
Anaerobic digestion of waste and wastewater has attracted researchers’ attention due to its important effect on reducing greenhouse gas emissions and reducing the level of environmental pollution and production of methane as a renewable energy source. This process is highly sensitive and can become unstable due to the presence of complex biochemical reactions and containing various types of chemical in it. In order to understand and improve the performance of this process, modeling and design of an appropriate control strategy is needed. ADM1 is the most accurate model for this process which is used in this study to describe and simulate the anaerobic reactor. Constrained and unconstrained...
Simulation and Control of Anaerobic Reactors
, M.Sc. Thesis Sharif University of Technology ; Shahrokhi, Mohammad (Supervisor) ; Vafa, Ehsan (Supervisor)
Abstract
Anaerobic digestion of waste and wastewater has attracted researchers’ attention due to its important effect on reducing greenhouse gas emissions and reducing the level of environmental pollution and production of methane as a renewable energy source. This process is highly sensitive and can become unstable due to the presence of complex biochemical reactions and containing various types of chemical in it. In order to understand and improve the performance of this process, modeling and design of an appropriate control strategy is needed. ADM1 is the most accurate model for this process which is used in this study to describe and simulate the anaerobic reactor. Constrained and unconstrained...
Designing a hierarchical model-predictive controller for tracking an unknown ground moving target using a 6-DOF quad-rotor
, Article International Journal of Dynamics and Control ; September , 2020 ; Badri, P ; Mohammadkhani, H ; Sharif University of Technology
Springer Science and Business Media Deutschland GmbH
2020
Abstract
In this paper, a hierarchical predictive controller is designed in order to solve the tracking problem of a moving ground target by a quad-rotor in an unknown and uneven environment. This controller has internal and external predictive controller levels. In the lower layer of the controller, a constrained predictive controller is designed that is capable of rejecting perturbations and quickly tracking the reference path, and in the outer loop, a model predictive controller is designed to optimally detect the moving ground target where, the sub-cost functions were defined so that the quad-rotor would be able to track the moving ground target even if it was temporarily out of sight of the...
Designing a hierarchical model-predictive controller for tracking an unknown ground moving target using a 6-DOF quad-rotor
, Article International Journal of Dynamics and Control ; Volume 9, Issue 3 , 2021 , Pages 985-999 ; 2195268X (ISSN) ; Badri, P ; Mohammadkhani, H ; Sharif University of Technology
Springer Science and Business Media Deutschland GmbH
2021
Abstract
In this paper, a hierarchical predictive controller is designed in order to solve the tracking problem of a moving ground target by a quad-rotor in an unknown and uneven environment. This controller has internal and external predictive controller levels. In the lower layer of the controller, a constrained predictive controller is designed that is capable of rejecting perturbations and quickly tracking the reference path, and in the outer loop, a model predictive controller is designed to optimally detect the moving ground target where, the sub-cost functions were defined so that the quad-rotor would be able to track the moving ground target even if it was temporarily out of sight of the...