Liquid Level Tracking Control of Three-tank Systems

다국어 초록 (Multilingual Abstract)

In this paper, a liquid level tracking controller composed of a feedforward controller and a feedback controller is proposed for three-tank systems. Firstly, the flat property of three-tank systems is verified and a feedforward controller is designed accordingly to track the ideal trajectories. Secondly, in order to eliminate the tracking errors introduced by model uncertainties or unknown disturbances, a nonlinear model predictive controller is designed in which a terminal equality constraint is added for ensuring asymptotic convergence. In addition, an improved cuckoo search algorithm is adopted to solve the optimization problem involved in the nonlinear model predictive control. Finally, the control performance is confirmed by both simulation and experiment results.

참고문헌 (Reference)

1 Fang Deng, "UKF Based Nonlinear Offset-free Model Predictive Control for Ship Dynamic Positioning under Stochastic Disturbances" 제어·로봇·시스템학회 17 (17): 3079-3090, 2019

2 R. M. Murray, "Trajectory generation for a towed cable system using differential flatness" 395-400, 1996

3 Z. Shi, "Three Tank Water Level Control Based on Predictive Control Algorithm" Shenyang Ligong University 2013

4 J. Prakash, "State estimation and nonlinear predictive control of autonomous hybrid system using derivative free state estimators" 20 (20): 787-799, 2010

5 H. L. Cai, "Research and Application of Penalty Function Method in Constrained Optimization" East China Normal University 2015

6 X. Zhen, "Research and Application of Bat Algorithm Based on Levy Flight and Simplex Method" Guangdong University of Technology 2016

7 Y. Liu, "Receding horizon control for path following problems of wheeled mobile robots" 34 (34): 424-432, 2017

8 F. Zhou, "RBF-ARX model-based MPC strategies with application to a water tank system" 34 : 97-116, 2015

9 Seyyed Mostafa Tabatabaei, "Practical Explicit Model Predictive Control for a Class of Noise-embedded Chaotic Hybrid Systems" 제어·로봇·시스템학회 17 (17): 857-866, 2019

10 S. Yu, "Nonlinear model predictive control for path following problems" 25 (25): 1168-1182, 2015

11 S. Ge, "Neural network PID control of three-tank system based on decoupling" 2008

12 S. Yu, "Moving horizon H∞ control of a three-tank system and its experiment study" 28 : 82-91, 2007

13 J. B. Rawlings, "Model Predictive Control : Theory and Design" Nob Hill Pub 2009

14 R. Yu, "MPC-based regional path tracking controller design for autonomous ground vehicles" IEEE 2510-2515, 2016

15 S. Yu, "Liquid level tracking control of three-tank systems" 3541-3545, 2018

16 D. Chirita, "Liquid level control for industrial three tanks system based on sliding mode control" 60 (60): 437-446, 2015

17 Y. Wang, "Liquid Level Control of a Three-tank System" Jilin University 2017

18 L. T. Biegler, "Large-scale nonlinear programming using IPOPT : an integrating framework for enterprise-wide dynamic optimization" 33 (33): 575-582, 2009

19 M. Fliess, "Flatness and defect of nonlinear systems : introductory theory and examples" 61 (61): 1327-1361, 1995

20 C. M. Torres, "Fault tolerant control of a three tank system : a flatness based approach" 529-534, 2014

21 C. M. Torres, "Fault detection and isolation on a three tank system using differential flatness" 2013

22 X. S. Yang, "Engineering optimisation by cuckoo search" 1 (1): 330-343, 2010

23 X. S. Yang, "Cuckoo search : recent advances and applications" 24 (24): 169-174, 2014

24 Ju Zhang, "Control of a Laboratory 3-DOF Helicopter: Explicit Model Predictive Approach" 제어·로봇·시스템학회 14 (14): 389-399, 2016

25 A. Bamimore, "Comparison of two nonlinear model predictive control methods and implementation on a laboratory three tank system" 5242-5247, 2011

26 H. Chen, "Applying model predictive control in automotive" 2012

27 Ming Yue, "An Efficient Model Predictive Control for Trajectory Tracking of Wheeled Inverted Pendulum Vehicles with Various Physical Constraints" 제어·로봇·시스템학회 16 (16): 265-274, 2018

28 L. I. Rong-Yu, "Adaptive Step-size Cuckoo Search Algorithm" 2017

29 M. Sarailoo, "A novel model predictive control scheme based on bees algorithm in a class of nonlinear systems : application to a three tank system" 152 : 294-304, 2015

30 N. Parikh, "A comparison between NMPC and LQG for the level control of three tank interacting system" 200-205, 2017

31 F. Salem, "A comparison between MPC and optimal PID controllers: case studies" Michael Faraday IET International 2015