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In this paper, an Advanced Process Control framework based on the cooperation of several key blocks is proposed. A Supervisory Control and Data Acquisition system communicates with a two-layer linear Model Predictive Control block. An additional block online determines the set of process variables to be included in the control problem. In particular, bad conditions and local control loops faults are...
This paper proposes a formulation of a linear Model Predictive Control system based on two layers. The formulation takes into account a status value associated with each variable. At the lower layer, a basic Model Predictive Control module minimizes a constrained quadratic cost function for the computation of the future control moves. At the upper layer, an additional module, based on a Linear Programming...
In this paper a two-layer linear Model Predictive Control strategy is proposed. The problem of establishing a consistency between the mathematical formulations of the two layers is analyzed. At the lower layer, a basic Model Predictive Control module computes the future control moves taking into account predictions on the manipulated and controlled variables. In the quadratic optimization problem...
The activities associated to underwater diving are of great importance in many areas. In the second half of the last century, diving technologies have greatly progressed, but diving is still characterized by significant risks, especially for professional divers who works at high depth, and limited practicability. The use of robotic systems and automatic procedures would allow, as in other situations...
The objective of the low level control system of marine vehicles is to generate a desired thrust in the face Of environmental disturbances and modelling uncertainties. The control objective of standard low level control solutions is the propeller angular speed that is assumed to be related to the produced thrust through a known hydrodynamic model. The presented approach differs from the above as the...
Currently, the methods of inspection of underwater structures employ remotely operated vehicles, guided from a support vessel by human operators. The risk of losing concentration calls for the development of an intelligent vision, guidance and control system to support the human activity. The paper presents a robust system for the detection and the real-time tracking of submarine pipelines. An active...
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