Multidimensional Taylor network adaptive control for MIMO time‐varying uncertain nonlinear systems with noises

In this paper, an adaptive control approach based on the multidimensional Taylor network (MTN) is proposed here for the real‐time tracking control of multiple‐input–multiple‐output (MIMO) time‐varying uncertain nonlinear systems with noises. Two MTNs are used to formulate the optimum control and adaptive filtering approaches. The feed‐forward MTN controller (MTNC) is developed to realize the precise tracking control. The closed‐loop errors between the filtered outputs and expected values are directly chosen as the MTNC's inputs. A valid initial value selection scheme for the weights of the MTNC, which can ensure the initial stability of adaptive process, is introduced. The proposed MTNC can update its weights online according to errors caused by system's uncertain factors, based on stable learning rate. The resilient backpropagation algorithm and the adaptive variable step size algorithm via linear reinforcement are utilized to update the MTNC's weights. The MTN filter (MTNF) is developed to eliminate measurement noises and other stochastic factors. The proposed adaptive MTN filtering system possesses the distinctive properties of the Lyapunov theory–based adaptive filtering system and MTN. Lyapunov function of the filtering errors between the measured values and MTNF's outputs is defined. By properly choosing the weights update law in the Lyapunov sense, the MTNF's outputs can asymptotically converge to the desired signals. The design is independent of the stochastic properties of the input disturbances. Simulation of the MTN‐based control is conducted to test the effectiveness of the presented results.     

改进的装炉组合问题建模与优化算法

针对罩式炉退火生产中的钢卷组合堆垛优化问题,建立了以最小化钢卷组炉总加热时间为目标的数学模型。模型综合考虑了钢卷自身属性以及生产工艺约束条件等因素对钢卷组炉加热处理时间的影响。在分析罩式炉退火加热工艺规范的基础上,提出了一种改进自适应遗传算法对模型求解。算法首先类比装炉组合问题与一维装箱问题的相似点分组编码染色体,借鉴装箱问题的优化思想改善初始解种群质量;然后在工艺规则的指导下对遗传基因进行启发式交叉和变异,变异率和交叉率随种群收敛程度自适应调整以保证种群多样性和全局收敛性;最后结合局部穷举搜索方法实现了对上述模型的优化计算。仿真对比实验以及现场实际应用效果均表明该算法相对其他算法的优越性。     

NURBS曲线参数插补的实时前瞻算法

针对引入自适应插补算法而使机床在进给过程中产生的进给速度突变,进给加速度超出机床最大允许值的问题进行了研究,提出了一种利用回溯和重插补的前瞻方法。当进入曲率敏感区域时,向前追溯已插补点,找到一个符合进给速度校验的点,从该点进行重新插补,将所得的插补速度代替之前自适应存储的速度,达到自行调整进给速度的目的,使得插补加速度在机床的允许范围内变化,保证机床平稳运行。仿真和实验结果验证了所提算法的有效性和实时性。     

Glucose concentration control of a fed-batch mammalian cell bioprocess using a nonlinear model predictive controller

A non-linear model predictive controller (NMPC) was investigated as a route to delivering improved product quality, batch to batch reproducibility and significant cost reductions by providing a means for better controlling the bioreactor environment in a Chinese hamster ovary (CHO) mammalian cell fed-batch process.A nonlinear fundamental bioprocess model was developed to represent the CHO mammalian cell fed-batch bioprocess under study. This developed nonlinear model aided in the configuration and tuning of a NMPC through off-line simulation. The tuned NMPC was applied to a 15 L pilot-plant bioreactor for glucose concentration fixed set-point control. Traditionally, bioprocesses are characterized by long critical process parameter (CPP) measurement intervals (24 h). However, advances in PAT have helped increase CPP measurement frequency. An in situ Kaiser RXN2 Raman spectroscopy instrument was used to monitor the glucose concentration at 6 min intervals.Glucose concentration control of a bioreactor is not a trivial task due to high process variability, measurement noise and long measurement intervals. Nevertheless, NMPC proved successful in achieving closed loop fixed set-point control in the presence of these common bioprocess operation attributes.     

Regularized pole-placement adaptive control of a liquid-liquid extraction column

Some critical computations in pole-placement design and in that of many model reference adaptive systems are described. These numerical problems are associated with the resolution of the diophantine equation. They occur when the assumption of no common poles and zeros is violated. Regularization techniques which cope with ill-conditioning are presented. The resulting algorithm combines a standard indirect pole-placement adaptive control algorithm and a dimension-free regularization procedure of the design equations, thus avoiding the pole-zero cancellation problem and yet retaining the other properties of the algorithm. The application of this control scheme in a pulsed liquid-liquid extraction column is described. The control objective is to optimize the column behaviour. Extraction columns are subject to changes in feed compositions, feed flow-rates, physical properties of the solvent (the extractor) and the solute (liquid mixture) and various disturbances. The column exhibits highly non-linear and time-varying dynamics. The conductivity measured at a specific place in the column and the pulse frequency have been selected as control variables. Experimental results demonstrate the usefulness and the robustness of this regularized pole-placement adaptive control algorithm.     

一种基于参数辨识的迭代学习控制算法及应用

针对间歇过程中模型参数变化的问题,提出了一种基于遗忘因子最小二乘法辨识的迭代学习控制算法。迭代学习律的参数随模型参数变化而更新,利用遗忘因子大大减小参数变化时"错误"数据对算法的影响,使算法具有更强的自适应性。把这一算法应用于黄酒发酵过程,提高了发酵过程的优化控制效果。仿真结果表明当模型参数随着批次变化时,系统的跟踪性能得到了改进。     

Fuzzy adaptive output feedback control for a class of switched non-triangular structure nonlinear systems with time-varying delays

This paper investigates an adaptive fuzzy output feedback control design problem for switched nonlinear system in non-triangular structure form. The discussed system contains unknown nonlinear dynamics, unmeasured states and unknown time-varying delays under a batch of switching signals. Fuzzy logic systems are utilised to learn unknown nonlinear dynamics and construct a fuzzy switched nonlinear observer. By combining the property of fuzzy basis function with Lyapunov–Krasovskii functional and the command filter, a novel observer-based fuzzy adaptive backstepping schematic design algorithm is presented. Furthermore, the stability of the closed-loop control system is proved via Lyapunov stability theory and average dwell time method. The simulation results are presented to verify the validity of the proposed control scheme.     

Optimal adaptive control schemes for PHB production in fed-batch fermentation of Ralstonia eutropha

A dynamic model for a fed-batch fermentation of Ralstonia eutropha for PHB production is presented. Based on the simplified kinetics, some of kinetic parameters are very sensitive to uncertainties. To develop the robust and feasible feeding strategy, the specific optimal adaptive control strategy is determined by solving the constrained discrete-time optimization algorithm using the genetic algorithm solver in Matlab. The proposed control methods are implemented to the feed flow manipulation with stepwise changes. Through Lyapunov stability analysis, the closed-loop stability regarding the state estimation errors and parametric uncertainties is investigated. Finally, simulations show that the satisfactory output tracking performance is achieved under the two-input control configuration.     

A novel identification method for hybrid (N)PLS dynamical systems with application to bioprocesses

This paper presents a method for the identification of nonlinear partial least square (NPLS) models embedded in macroscopic material balance equations with application to bioprocess modeling. The proposed model belongs to the class of hybrid models and consists of a NPLS submodel, which mimics the cellular system, coupled to a set of material balance equations defining the reactor dynamics. The method presented is an analog to the non-iterative partial least square (NIPALS) algorithm where the PLS inner model is trained using the sensitivity method. This strategy avoids the estimation of the target fluxes from measurements of metabolite concentrations, which is rather unrealistic in the case of sparse and noisy off-line measurements.The method is evaluated with a simulation case study on the fed-batch production of a recombinant protein, and an experimental case study of Bordetella pertussis batch cultivations. The results show that the proposed method leads to more consistent models with higher statistical confidence, better calibration properties and reinforced prediction power when compared to other dynamic (N)PLS structures.     

补料分批发酵过程计算机控制系统的设计与应用

针对补料分批发酵过程的特点，设计了一套适合于现场控制策略的计算机控制系统。其中现场控制部分采用OMIRON公司的C200HEPLC进行数据的采集和常规控制任务；上位机采用国产组态软件组态王编程，考虑到组态王在编制复杂算法程序方面的局限性，故用VB编制复杂控制算法程序，实现组态王的二次开发。实际应用表明，该系统可靠、稳定、控制精度较高。     

Two-time dimensional dynamic matrix control for batch processes with convergence analysis against the 2D interval uncertainty

A batch process can be treated as a 2-dimentional (2D) system with a time dimension within each batch and a batch dimension from batch to batch. This paper integrates the learning ability of iterative learning control (ILC) into the prediction model of model predictive control (MPC). Based on this integrated model, a 2D dynamic matrix control (2D-DMC) algorithm with a feedback control and an optimal feed-forward control is proposed. The sufficient conditions for exponentially asymptotic and monotonic convergence of the proposed 2D-DMC are established with proof under certain assumptions, in the presence of not only the completely repeatable uncertainties but also the non-repeatable interval uncertainties. The effectiveness of the proposed control scheme is tested through simulation and experimental implementation in the context of injection molding, a typical batch process. The results show that the batch process control performance is significantly improved.     

Applied advanced process analytics in biopharmaceutical manufacturing: Challenges and prospects in real-time monitoring and control

Biopharmaceutical manufacturing processes are inherently complex due to their nonlinear bioprocess dynamics, variability in batch operations and manufacturing schedule, raw materials involved, and automatic process control. A typical processed lot generates large amounts of data that need to be analyzed and interpreted for process troubleshooting and continuous improvement purposes in addition to product release. Multivariate batch process modeling, monitoring and control approaches in real-time are elaborated by providing industrial examples from the commercial manufacturing processes. Examples and opportunities in cell culture (e.g., bioreactor applications) and purification (e.g., large-scale chromatography) operations are summarized. Impact of process analytical technologies (PAT), soft-sensor development, first principles modeling applications and commercial-scale examples are presented.     

A new algorithm for decentralized adaptive control

A new algorithm for decentralized adaptive control is proposed in this paper. This algorithm consists of an ordinary local adaptive controller and a variable structure adaptive controller. The adaptive variable structure component of this algorithm is used to compensate for uncertain interconnections among the subsystems and to ensure global stability of the overall system. Simulation results are also presented to demonstrate the performance of the closed-loop control system     

Microbial specific growth rate control via MRAC method

A problematic feature in most fermentation processes is that on-line measurement of the most important biological process variables, the concentration of the bio-mass and its specific growth rate, cannot be directly measured. An approach for estimating these biological variables and for controlling the specific growth rate in a continuous flow bioprocess of a stirred tank reactor is presented and analysed. The goal in the control is to get the specific growth rate to track the rate of a given reference model, A dynamic model for the specific growth rate is obtained from the general growth and substrate consumption model. The structure of the rate model is then applied in the reference model structure. The methodology studied is based on two issues, joint state and parameter estimation and direct adaptive control. From the theoretical viewpoint, this forms a combination of indirect and direct adaptive control. The structure of the control law is justified by the structure of the law obtained for known fixed parameters. Convergence of the estimation scheme and of the adaptive control scheme are demonstrated via Lyapunov's method, and separately. The choice of the appropriate Lyapunov function results in a Pl-type controller with the gains as the parameters to be adjusted by the user. A simulation study based on Monod's model and time-varying model parameters and subject to measurement noise shows the feasibility and robustness of the adaptive control methodology developed for this non-linear process.     

仓储物流机器人批量拣选路径规划仿真

针对仓储物流机器人在拣选作业过程中难以进行高效实时的路径规划问题,提出一种有效的解决方法。首先,根据拣选作业的需要建立一个灵活的仓储空间模型并对拣选作业任务流程进行描述。其次,根据批量拣选作业任务的特点,建立以路径总长度最小为优化目标的旅行商问题的数学模型。再次,提出改进的自适应遗传算法解决旅行商问题。最后,在考虑路径转折角代价的前提条件下,提出改进的A*算法,并与改进的自适应遗传算法相结合实现批量拣选的路径规划。仿真结果表明,该方法具有较快的收敛速度、较小的平均路径长度以及较少的算法运行时间,能很好地适应机器人批量拣选路径规划的要求。      

基于模糊T-S模型的批过程建模与最优控制

基于模糊T-S模型,提出一种具有自学习能力的模糊方法用于批过程建模和最优控制.通过引入与均方误差相关的动态误差传递因子,使用改进的梯度下降法,本方法能够辨识模糊T-S预测模型.对于批过程的受限非线性最优控制,基于所辨识的预测模型,运用庞特里亚金最小值原理和平行分布补偿算法,本方法能够把一个复杂非线性系统最优控制设计问题转化为一些基于复杂T-S预测模型的局部线性系统的最优问题,从而给出一种有效和简单的模糊最优控制策略.所提方法用于一个半连续式反应器的建模和最优控制,仿真结果表明新方法是有效和准确的.     

Optimal PID Controller Autotuning Design for MIMO Nonlinear Systems Based on the Adaptive SLP Algorithm

In this paper, an adaptive swarm learning process (SLP) algorithm for designing the optimal proportional integral and derivative (PID) parameter for a multiple-input multiple-output (MIMO) control system is proposed. The SLP algorithm is proposed to improve the performance and convergence of PID parameter autotuning by applying the swarm algorithm and the learning process. The adaptive SLP algorithm improves the stability, performance and robustness of the traditional SLP algorithm to apply it to a MIMO control system. It can update the online weights of the SLP algorithm caused by the errors in the settling time, rise time and overshoot of the system based on a stable learning rate. The gradient descent is applied to update the weights. The stable learning rate is verified based on the Lyapunov stability theorem. Additionally, simulations are performed to verify the superiority of the algorithm in terms of performance and robustness. Results that compare the adaptive SLP algorithm with the traditional SLP, a neural network (NN), the genetic algorithm (GA), the particle swarm and optimization (PSO) algorithm and the kidney-inspired algorithm (KIA) based on a two-wheel inverted pendulum system are presented. With respect to performance and robustness, the adaptive SLP algorithm provides a better response than the traditional SLP, NN, GA, PSO and KIA.

     

一种求解旅行商问题的新型帝国竞争算法

帝国竞争算法是一种已在连续优化问题上取得较好效果的新型社会政治算法. 为了使该算法更好地应用于离散型组合优化问题, 提出一种求解旅行商问题的新型帝国竞争算法. 在传统算法的基础上, 改变初始帝国的生成方式; 同化过程采取替换重建方式, 以提升求解质量; 革命过程中引入自适应变异算子, 以增强搜索能力; 殖民竞争过程中调整了殖民地分配方式; 算法加入帝国增强过程, 以加快寻化速度. 实验结果表明, 新型帝国竞争算法求解质量高、收敛速度快.

     

Multivariate batch to batch optimisation of fermentation processes incorporating validity constraints

This paper presents an innovative optimisation technique, which utilises an adaptive Multiway Partial Least Squares (MPLS) model to track the dynamics of a batch process from one batch to the next. Utilising this model, an optimisation algorithm solves a quadratic cost function that identifies operating conditions for the subsequent batch that should increase yield. Hard constraints are shown to be required when solving the cost function to ensure that batch conditions do not vary too greatly from one batch to the next. Furthermore, validity constraints are imposed to prevent the PLS model from extrapolating significantly when determining new operating conditions. The capabilities of the proposed technique are illustrated through its application to two benchmark fermentation simulations, where its performance is shown to compare favourably with alternative batch-to-batch optimisation techniques.     

Robust‐Adaptive Control Strategies for a Time Delay Bioelectrochemical Process Using Interval Observers

The paper addresses the design and the analysis of adaptive and robust‐adaptive control strategies for a complex recycled wastewater treatment bioprocess. The design procedures are developed under the realistic assumptions that the bacterial growth rates are unknown and the influent flow rates are time‐varying and uncertain, but some lower and upper bounds of these uncertainties are known. The proposed control structures are achieved by combining a linearizing control law with an appropriately (asymptotic or interval based) state observer and with a parameter estimator used for on‐line estimation of unknown kinetics. These approaches are applied to a complex time delay bioprocess resulting from the association of a recycling bioreactor with an electrochemical reactor. Numerical simulations are performed in order to validate the proposed algorithms.