Model predictive control for deployable,autonomous control systems
Recently the concept of deployable autonomous control systems was introduced as an innovative alternative to traditional permanent control devices.The concept is centered on a using a robotic platform and electromagnetic mass damper to achieve a relatively wide control bandwidth and facilitate rapid implementation on a range of structures.The concept is particularly attractive for immediate,short-term vibration control applications such as lightweight footbridges during marathon events.In earlier work,classical linear quadratic control theory was used to formulate a feedback controller for a prototype system.The main limitation of this formulation is the inability to systematically account for the physical operating constraints which leads to conservative controller designs that under-utilize the capacity of the device.Model predictive control is similar to linear quadratic control but offers a systematic method for addressing operating constraints.A model predictive controller relies on a prediction model of the system to solve a constrained optimization problem over a receding finite horizon.In this paper,a model predictive control scheme is formulated for the same prototype control system.The controller design addresses the two key operating constraints which are the physical stroke of the electromagnetic mass damper and maximum control force.A case study is used to compare the performance of the model predictive control scheme with an equivalent linear quadratic controller.The proposed formulation effectively accounts for the constraints while utilizing the full capacity of the control device.
Model predictive control mobile control systems active control control-structure interaction
K.Goorts S.Narasimhan
Department of Civil & Environmental Engineering,University of Waterloo,Waterloo,Canada
国际会议
The 7th World Conference on Structural Control and Monitoring(7WCSCM)(第七届结构控制与监测世界大会)
青岛
英文
726-734
2018-07-22（万方平台首次上网日期，不代表论文的发表时间）