Robust control of variable speed autonomous underwater vehicle

Set point tracking control of autonomous underwater vehicle (AUV) via robust model predictive control (RMPC) is considered. Input-constrained RMPC with integral action, which has been developed in our previous work, is used to control the AUV in this study. In order to derive a RMPC control rule, non-linear dynamics of AUV with six degree of freedom is linearized at certain operating points. So, horizontal and vertical plane dynamics of system are represented by linear models which have polytopic uncertainties. Since the derived control rule will be used in real time, the computation time should be reduced. To overcome this computational time problem and get rid of trial–error step of Algorithm 1, a new algorithm is proposed here. The simulations are carried out using the control rule based on this algorithm and these results are presented.     

Decision support in machine vision system for monitoring of TFT-LCD glass substrates manufacturing

This study addresses classification methodology for the automatic inspection of a range of defects on the surface of glass substrates in thin film transistor liquid crystal display glass substrate manufacturing. The proposed methodology consisted of four stages: (1) feature extraction by calculating the wavelet co-occurrence signature from the substrate images, (2) handling of imbalanced dataset using the Synthetic Minority Over-sampling TEchnique (SMOTE), (3) reduction of the feature's dimension by principal component analysis, and (4) finally choosing the best classifier between three different methods: Classification And Regression Tree (CART), Multi-Layer Perceptron (MLP) and Support Vector Machine (SVM). In training the SVM and MLP classifiers, the simulated annealing algorithm was used to obtain the optimal tuning parameters for the classifiers. From the industrial case study, the proposed feature extraction algorithm could remove the defect-irrelevant image features and SMOTE increased the accuracy of all three methods. Furthermore, the optimized SVM and MLP models were more accurate than the CART model whereas a higher accuracy of 89.5% was observed for the proposed SVM model.     

Nonlinear multiobjective model-predictive control scheme for wastewater treatment process

A nonlinear multiobjective model-predictive control (NMMPC) scheme, consisting of self-organizing radial basis function (SORBF) neural network prediction and multiobjective gradient optimization, is proposed for wastewater treatment process (WWTP) in this paper. The proposed NMMPC comprises a SORBF neural network identifier and a multiple objectives controller via the multi-gradient method (MGM). The SORBF neural network with concurrent structure and parameter learning is developed as a model identifier for approximating on-line the states of WWTP. Then, this NMMPC optimizes the multiple objectives under different operating functions, where all the objectives are minimized simultaneously. The solution of optimal control is based on the MGM which can shorten the solution time. Moreover, the stability and control performance of the closed-loop control system are well studied. Numerical simulations reveal that the proposed control strategy gives satisfactory tracking and disturbance rejection performance for WWTP. Experimental results show the efficacy of the proposed method.     

A new Probe Guided Mutation operator and its application for solving the cardinality constrained portfolio optimization problem

This paper revisits the classical Polynomial Mutation (PLM) operator and proposes a new probe guided version of the PLM operator designed to be used in conjunction with Multiobjective Evolutionary Algorithms (MOEAs). The proposed Probe Guided Mutation (PGM) operator is validated by using data sets from six different stock markets. The performance of the proposed PGM operator is assessed in comparison with the one of the classical PLM with the assistance of the Non-dominated Sorting Genetic Algorithm II (NSGAII) and the Strength Pareto Evolutionary Algorithm 2 (SPEA2). The evaluation of the performance is based on three performance metrics, namely Hypervolume, Spread and Epsilon indicator. The experimental results reveal that the proposed PGM operator outperforms with confidence the performance of the classical PLM operator for all performance metrics when applied to the solution of the cardinality constrained portfolio optimization problem (CCPOP). We also calculate the True Efficient Frontier (TEF) of the CCPOP by formulating the CCPOP as a Mixed Integer Quadratic Program (MIQP) and we compare the relevant results with the approximate efficient frontiers that are generated by the proposed PGM operator. The results confirm that the PGM operator generates near optimal solutions that lie very close or in certain cases overlap with the TEF.     

An improved global-best harmony search algorithm for faster optimization

In this paper, an improved global-best harmony search algorithm, named IGHS, is proposed. In the IGHS algorithm, initialization based on opposition-based learning for improving the solution quality of the initial harmony memory, a new improvisation scheme based on differential evolution for enhancing the local search ability, a modified random consideration based on artificial bee colony algorithm for reducing randomness of the global-best harmony search (GHS) algorithm, as well as two perturbation schemes for avoiding premature convergence, are integrated. In addition, two parameters of IGHS, harmony memory consideration rate and pitch adjusting rate, are dynamically updated based on a composite function composed of a linear time-varying function, a periodic function and a sign function in view of approximate periodicity of evolution in nature. Experimental results tested on twenty-eight benchmark functions indicate that IGHS is far better than basic harmony search (HS) algorithm and GHS. In further study, IGHS has also been compared with other eight well known metaheuristics. The results show that IGHS is better than or at least similar to those approaches on most of test functions.     

Steady-state target optimization designs for integrating real-time optimization and model predictive control

In industrial practice, the optimal steady-state operation of continuous-time processes is typically addressed by a control hierarchy involving various layers. Therein, the real-time optimization (RTO) layer computes the optimal operating point based on a nonlinear steady-state model of the plant. The optimal point is implemented by means of the model predictive control (MPC) layer, which typically uses a linear dynamical model of the plant. The MPC layer usually includes two stages: a steady-state target optimization (SSTO) followed by the MPC dynamic regulator. In this work, we consider the integration of RTO with MPC in the presence of plant-model mismatch and constraints, by focusing on the design of the SSTO problem. Three different quadratic program (QP) designs are considered: (i) the standard design that finds steady-state targets that are as close as possible to the RTO setpoints; (ii) a novel optimizing control design that tracks the active constraints and the optimal inputs for the remaining degrees of freedom; and (iii) an improved QP approximation design were the SSTO problem approximates the RTO problem. The main advantage of the strategies (ii) and (iii) is in the improved optimality of the stationary operating points reached by the SSTO-MPC control system. The performance of the different SSTO designs is illustrated in simulation for several case studies.     

Consistent hierarchical economic NMPC for a class of hybrid systems using neighboring-extremal updates

A hierarchical two-layer control algorithm is developed for a class of hybrid (discrete-continuous dynamic) systems to support economically optimal operation of batch or continuous processes with a predefined production schedule. For this class of hybrid systems, the optimal control moves as well as the controlled switching times between two adjacent modes are determined online. In contrast to closely related schemes for integrated scheduling and control, the sequence of modes is not optimized. On the upper layer, the economic optimal control problem is solved rigorously by a slow hybrid economic model predictive controller at a low sampling rate. On the lower layer, a fast hybrid neighboring-extremal controller is based on the same economic optimal control problem as the slow controller to ensure consistency between both layers. The fast neighboring-extremal controller updates rather than tracks the optimal trajectories from the upper layer to account for disturbances. Consequently, the fast controller steers the process to its operational bounds under disturbances and the economic potential of the process is exploited anytime. The suggested two-layer control algorithm provides fully consistent control action on the fast and slow time-scale and thus avoids performance degradation and even infeasibilities which are commonly encountered if inconsistent optimal control problems are formulated and solved.     

A tutorial review of economic model predictive control methods

An overview of the recent results on economic model predictive control (EMPC) is presented and discussed addressing both closed-loop stability and performance for nonlinear systems. A chemical process example is used to provide a demonstration of a few of the various approaches. The paper concludes with a brief discussion of the current status of EMPC and future research directions to promote and stimulate further research potential in this area.     

An economic receding horizon optimization approach for energy management in the chlor-alkali process with hybrid renewable energy generation

This paper presents a methodology for the application of receding horizon optimization techniques to the problem of optimally managing the energy flows in the chlor-alkali process using a hybrid renewable energy system (HRES). The HRES consists of solar and wind energy generation units and fuel cells to supply energy. The HRES is also connected to the grid and allows for buying or selling electricity from and to the grid. Initially, detailed models of each system component are introduced as the basis for the simulation study. Energy management strategies are then developed to realize the objectives of meeting production requirements while minimizing the overall operating and environmental costs. Sensitivity and uncertainty analyses are carried out to elucidate the key parameters that influence the energy management strategies. Finally, production demand response is integrated into the proposed methodology.     

动态格点搜索的改进算法用于团簇结构快速优化

结合高效的动态格点搜索(DLS)算法与扰动操作(Perturbation Operation)提出一种新的改进方法(DLS-PO),用于确定团簇的最低能量结构。针对一个特定构型,DLS算法总能给出其对应搜索空间的最规则结构。然而,一次失败的DLS优化将消耗大量的运算资源。为此,采取原子移动和结构旋转的扰动操作成功地改变了构型,再结合后续的DLS操作,提高了优化效率。将该算法用于原子数高达309的Lennard-Jones团簇及100原子NP-B函数铝团簇的结构优化。优化结果显示相比于DLS算法,DLS-PO算法更为高效。