TY - JOUR
T1 - Development of a Nonlinear Model Predictive Control-Based Nonlinear Three-Mode Controller for a Nonlinear System
AU - Kumar, Suraj Suresh
AU - Indiran, Thirunavukkarasu
AU - Itty, George Vadakkekkara
AU - Shettigar J, Prajwal
AU - Paul, Tinu Valsa
N1 - Funding Information:
The authors would like to express gratitude to the funding agencies: (1) Manipal Academy of Higher Education (MAHE) for the seed money grant toward the batch reactor experimental setup under grant ID: 00000220 dated 1/1/2020. (2) Indian Space Research Organization/Department of Space Respond Program, Government of India, has funded this project under the project code: ISRO/RES/3/822/19-20, dated on August 8th, 2019. (3) Karnataka State Council of Science and Technology sponsored toward proximity sensors and camera modules under: 45S_MTECH_024, dated: 11th May, 2022. The authors would intimate their gratitude toward Prof. Prashant Mhaskar, McMaster University, Canada and P.S.J. Prakash, Dean, MIT, Anna University, for giving us meaningful insights into batch reactor and its experimental validation.
Publisher Copyright:
© 2022 American Chemical Society. All rights reserved.
PY - 2022/11/22
Y1 - 2022/11/22
N2 - 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.
AB - 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.
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U2 - 10.1021/acsomega.2c05542
DO - 10.1021/acsomega.2c05542
M3 - Article
C2 - 36440136
AN - SCOPUS:85142000432
SN - 2470-1343
VL - 7
SP - 42418
EP - 42437
JO - ACS Omega
JF - ACS Omega
IS - 46
ER -