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Development of a Nonlinear Model Predictive Control-Based Nonlinear Three-Mode Controller for a Nonlinear System
[Image: see text] This paper presents the novelty on a nonlinear proportional integral derivative (NPID) controller developed from the gain values obtained using the Lyapunov-based nonlinear model predictive controller (LyNMPC). The tuning parameters of the proposed controller are taken from the dyn...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
American Chemical Society
2022
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Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9685787/ https://www.ncbi.nlm.nih.gov/pubmed/36440136 http://dx.doi.org/10.1021/acsomega.2c05542 |
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author | Kumar, Suraj Suresh Indiran, Thirunavukkarasu Itty, George Vadakkekkara Shettigar J, Prajwal Paul, Tinu Valsa |
author_facet | Kumar, Suraj Suresh Indiran, Thirunavukkarasu Itty, George Vadakkekkara Shettigar J, Prajwal Paul, Tinu Valsa |
author_sort | Kumar, Suraj Suresh |
collection | PubMed |
description | [Image: see text] This paper presents the novelty on a nonlinear proportional integral derivative (NPID) controller developed from the gain values obtained using the Lyapunov-based nonlinear model predictive controller (LyNMPC). The tuning parameters of the proposed controller are taken from the dynamics of the nonlinear system, and these parmeters are dynamic with their value varying according to the error in the system. In this article, the authors have considered two highly nonlinear systems, namely, batch polymerization reactor and quadrotor unmanned aerial vehicle systems. The nonlinear mathematical modeling of the batch reactor as well as the quadrotor system considered from the past literature of authors. The acrylamide polymerization reaction under consideration is an exothermic reaction, thereby making the temperature profile tracking and control a challenging task. The primary aim of this article is to develop the NPID controller based on the LyNMPC algorithm and to validate the NPID on a batch reactor bench-scale plant and on an hardware-in-the-loop platform for the quadrotor hardware. A comparative study of trajectory tracking and control capabilities of LyNMPC on derived non-linear models of the batch reactor and quadrotor system is presented. The system mathematical models are obtained with the help of the first-principle energy balance equation for the batch reactor and with the nonlinear dynamics of the quadrotor which is derived based on Newton–Euler formulations. With LyNMPC, the stability of the nonlinear systems can be improved because the error sensitivity is considered in the cost function. |
format | Online Article Text |
id | pubmed-9685787 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | American Chemical Society |
record_format | MEDLINE/PubMed |
spelling | pubmed-96857872022-11-25 Development of a Nonlinear Model Predictive Control-Based Nonlinear Three-Mode Controller for a Nonlinear System Kumar, Suraj Suresh Indiran, Thirunavukkarasu Itty, George Vadakkekkara Shettigar J, Prajwal Paul, Tinu Valsa ACS Omega [Image: see text] This paper presents the novelty on a nonlinear proportional integral derivative (NPID) controller developed from the gain values obtained using the Lyapunov-based nonlinear model predictive controller (LyNMPC). The tuning parameters of the proposed controller are taken from the dynamics of the nonlinear system, and these parmeters are dynamic with their value varying according to the error in the system. In this article, the authors have considered two highly nonlinear systems, namely, batch polymerization reactor and quadrotor unmanned aerial vehicle systems. The nonlinear mathematical modeling of the batch reactor as well as the quadrotor system considered from the past literature of authors. The acrylamide polymerization reaction under consideration is an exothermic reaction, thereby making the temperature profile tracking and control a challenging task. The primary aim of this article is to develop the NPID controller based on the LyNMPC algorithm and to validate the NPID on a batch reactor bench-scale plant and on an hardware-in-the-loop platform for the quadrotor hardware. A comparative study of trajectory tracking and control capabilities of LyNMPC on derived non-linear models of the batch reactor and quadrotor system is presented. The system mathematical models are obtained with the help of the first-principle energy balance equation for the batch reactor and with the nonlinear dynamics of the quadrotor which is derived based on Newton–Euler formulations. With LyNMPC, the stability of the nonlinear systems can be improved because the error sensitivity is considered in the cost function. American Chemical Society 2022-11-10 /pmc/articles/PMC9685787/ /pubmed/36440136 http://dx.doi.org/10.1021/acsomega.2c05542 Text en © 2022 The Authors. Published by American Chemical Society https://creativecommons.org/licenses/by-nc-nd/4.0/Permits non-commercial access and re-use, provided that author attribution and integrity are maintained; but does not permit creation of adaptations or other derivative works (https://creativecommons.org/licenses/by-nc-nd/4.0/). |
spellingShingle | Kumar, Suraj Suresh Indiran, Thirunavukkarasu Itty, George Vadakkekkara Shettigar J, Prajwal Paul, Tinu Valsa Development of a Nonlinear Model Predictive Control-Based Nonlinear Three-Mode Controller for a Nonlinear System |
title | Development of
a Nonlinear Model Predictive Control-Based
Nonlinear Three-Mode Controller for a Nonlinear System |
title_full | Development of
a Nonlinear Model Predictive Control-Based
Nonlinear Three-Mode Controller for a Nonlinear System |
title_fullStr | Development of
a Nonlinear Model Predictive Control-Based
Nonlinear Three-Mode Controller for a Nonlinear System |
title_full_unstemmed | Development of
a Nonlinear Model Predictive Control-Based
Nonlinear Three-Mode Controller for a Nonlinear System |
title_short | Development of
a Nonlinear Model Predictive Control-Based
Nonlinear Three-Mode Controller for a Nonlinear System |
title_sort | development of
a nonlinear model predictive control-based
nonlinear three-mode controller for a nonlinear system |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9685787/ https://www.ncbi.nlm.nih.gov/pubmed/36440136 http://dx.doi.org/10.1021/acsomega.2c05542 |
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