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Offset-Free Tracking Control for a Marine Autonomous Surface Ship
Volume 1: Offshore Technology, 2023Abstract The importance of autonomous surface vessels is increasing day by day because of more and more missions and safety concerns. An offset-free control system is essential for a Marine Autonomous Surface Ship (MASS) to follow its desired trajectory.
Islam, Tanjil +5 more
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Offset free model predictive control
2007 46th IEEE Conference on Decision and Control, 2007This work addresses the problem of offset-free model predictive control (MPC) when tracking a constant reference. It builds on the work in (G. Pannocchia, 2003), (G. Pannocchia, et al., 2002) and summarizes in a compact and intuitive manner the conditions that need to be satisfied to obtain offset-free MPC by using the arguments of the internal model ...
Francesco Borrelli, Manfred Morari
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An offset-free MPC formulation for nonlinear systems using adaptive integral controller
ISA Transactions, 2019 This paper investigates a novel offset-free control scheme based on a multiple model predictive controller (MMPC) and an adaptive integral action controller for nonlinear processes.
A W Hermansson, S Syafiie
exaly +2 more sources
Data Driven Control: An Offset Free Approach
2019 18th European Control Conference (ECC), 2019This work presents a data driven control strategy able to track a set point without steady state error. The control sequence is computed as an affine combination of past control signals, which belong to a set of past closed loop trajectories stored in a process historian database. This affine combination is computed so that the variance of the tracking
Jose R. Salvador +4 more
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Nonlinear offset-free model predictive control
Automatica, 2012zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Manfred Morari, Urban Maeder
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Offset-free reference tracking for predictive controllers
2007 46th IEEE Conference on Decision and Control, 2007We discuss the offset-free reference tracking problem for linear constrained systems in the presence of disturbances and plant-model mismatch. Introducing disturbance models, we show how to construct a controller/observer combination, such that zero offset is achieved.
Urban Maeder, Manfred Morari
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Offset-free model predictive controller of a heat pump
2014 American Control Conference, 2014This work presents an offset-free model predictive control (OF-MPC) design for energy-efficient control of a heat pump. A model developed from a combination of first-principles and empirical components with parameters estimated using real heat pump data is used as a test bed for the implementation of the MPC design.
Matt Wallace +3 more
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On a Property of a Class of Offset-Free Model Predictive Controllers
IEEE Transactions on Automatic Control, 2009We consider a model predictive control framework that includes a discrete-time linear time-invariant nominal plant model augmented with an output integrator disturbance model and a Kalman filter to estimate the state and disturbance vectors. While the application of this framework can guarantee offset-free control, it has shown a consistent limitation ...
Vibhor L. Bageshwar, Francesco Borrelli
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Predictive control for offset-free motion of industrial articulated robots
2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), 2017This paper deals with the design of model predictive control for the precise motion of industrial articulated robots. The solution is based on specific incremental formulations of equations of predictions. The proposed formulations enable the design to compensate and suppress undesirable positional offsets.
Kvetoslav Belda, Václav Záda
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Offset-free model predictive controller for Vapor Compression Cycle
2012 American Control Conference (ACC), 2012This work describes the application of an offset-free model predictive controller for a Vapor Compression Cycle (VCC). The MPC strategy is based on an empirically-identified linear model obtained using data simulated from a first-principle model of a VCC. The VCC model is interfaced with a building simulation EnergyPlus.
Matt Wallace +4 more
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