Fast Model Predictive Control for hydrogen outflow regulation in Ethanol Steam Reformers

Torchio, Marcello; Ocampo‐Martínez, Carlos; Magni, Lalo; Serra, Maria; Braatz, Richard D.; Raimondo, Davide M.

doi:10.1109/acc.2016.7526153

Cited by 7 publications

(8 citation statements)

References 15 publications

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“…2) Calculation of the FSR Coefficients: The first key challenge within the design of a QDMC strategy is the calculation of the aforementioned step response coefficients, when dealing with nonlinear systems. One option would be to directly approximate the nonlinear input-output relationship with a linear function, identified by means of a least-squares estimate [19]. However, as we have outlined in Section II-A, a linear model for the cloth is available, and we can use it to compute the coefficients.…”

Section: B Quadratic Dynamic Matrix Controlmentioning

confidence: 99%

Quadratic Dynamic Matrix Control for Fast Cloth Manipulation

Caldarelli,

Colomé,

Ocampo-Martinez

et al. 2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Robotic cloth manipulation is an increasingly relevant area of research, challenging classic control algorithms due to the deformable nature of cloth. While it is possible to apply linear model predictive control to make the robot move the cloth according to a given reference, this approach suffers from a large dimensionality of the state-space representation of the cloth models. To address this issue, in this work we study the application of an input-output model predictive control strategy, based on quadratic dynamic matrix control, to robotic cloth manipulation. To account for uncertain disturbances on the cloth's motion, we further extend the algorithm with suitable chance constraints. In extensive simulated experiments, involving disturbances and obstacle avoidance, we show that quadratic dynamic matrix control can be successfully applied in different cloth manipulation scenarios, with significant gains in optimization speed compared to standard model predictive control strategies. The experiments further demonstrate that the closed-loop model used by quadratic dynamic matrix control can be beneficial to the tracking accuracy, leading to improvements over the standard predictive control strategy. Moreover, a preliminary experiment on a real robot shows that quadratic dynamic matrix control can indeed be employed in real settings.

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Section: B Quadratic Dynamic Matrix Controlmentioning

confidence: 99%

Quadratic Dynamic Matrix Control for Fast Cloth Manipulation

Caldarelli,

Colomé,

Ocampo-Martinez

et al. 2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…(1) to Eq. (4)) over cobalt-based catalyst occur simultaneously within the reformer with the same thermodynamic conditions, and are expressed as follows [6], [20]:…”

Section: System Descriptionmentioning

confidence: 99%

Dynamic analysis of an ethanol steam reformer for hydrogen production

Pizarro

Ocampo‐Martínez

Prat

et al. 2017

2017 IEEE 3rd Colombian Conference on Automatic Control (CCAC)

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The attempt to improve hydrogen quality has motivated research focused solely on the design of reactors for hydrogen production, paying little interest to their modelling and much less attention to its dynamic analysis. For these main reasons, this paper is focused on the dynamic analysis of a mathematical model of an ethanol steam reformer (ESR) for producing hydrogen. This analysis differs from other nonlinear analyses since it is applied to a specific seventh-order system, while literature presents analyses for at most fourth-order systems. The nonlinear model used is based on mass balances. It is represented by partial differential equations (PDEs), which are converted into ordinary differential equations (ODEs) by the finite-differences method over the space. A general nonlinear dynamic analysis based on equilibrium points and their local stability is carried out by using these ODEs. Dynamic analysis results show that the studied reactor has a stable equilibrium point for a physical-sense range of inputs (ethanol + water), which allow to have available key criteria for the design of control strategies.

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“…Past studies have proposed state feedback-based control strategies, which require the design of state estimators. An alternative approach [10] that did not require a state estimator and had low on-line computational cost was a fast model predictive controller based on a linear input-output approximation of the ESR nonlinear model. The online MPC calculations were computable in real time.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Dynamical Analysis for an Ethanol Steam Reformer: A Singular Distributed Parameter System

Reyero-Santiago

Ocampo‐Martínez

Braatz

2020

2020 59th IEEE Conference on Decision and Control (CDC)

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This article provides a theoretical analysis of the nonlinear dynamics of an ethanol steam reformer, which has the potential to become a key technology for the creation of a hydrogen economy. A set of nonlinear partial differential equations is analyzed that arise from material and energy balances for an ethanol steam reformer. Although all of the governing equations contain derivatives with respect to both space and time, the nonlinear distributed parameter system is shown to be singular by structural rank analysis. A numerical method is proposed for simulation of the singular dynamical system. The character of the singularity is analyzed for both the distributed parameter systems and the lumped parameter system used in its simulation. The nonlinear spatiotemporal and input-output behavior of the system are analyzed, including by calculation of a nonlinearity measure applicable to singular distributed parameter systems. Although some states are highly nonlinear functions of the control inputs, a linear low-order input-output model with uncertainty description is shown to be suitable for controller design.

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Fast Model Predictive Control for hydrogen outflow regulation in Ethanol Steam Reformers

Cited by 7 publications

References 15 publications

Quadratic Dynamic Matrix Control for Fast Cloth Manipulation

Quadratic Dynamic Matrix Control for Fast Cloth Manipulation

Dynamic analysis of an ethanol steam reformer for hydrogen production

Nonlinear Dynamical Analysis for an Ethanol Steam Reformer: A Singular Distributed Parameter System

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