Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655009
K. Zimenko, A. Polyakov, D. Efimov
The paper presents methods for nonlinear homogeneous systems representation in a canonical form allowing stability conditions to be given by a linear matrix inequality. The main restriction for a system to admit the required representation is that its right-hand side has to be bounded on a unit sphere. It is shown that some nonhomogeneous systems can also be presented in the canonical form. Based on canonical representation a stabilizing control algorithm for affine in control nonlinear systems is presented with LMI-based tuning procedure. The results are supported with numerical examples.
{"title":"On Convex Embedding and Control Design for Nonlinear Homogeneous Systems *","authors":"K. Zimenko, A. Polyakov, D. Efimov","doi":"10.23919/ecc54610.2021.9655009","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655009","url":null,"abstract":"The paper presents methods for nonlinear homogeneous systems representation in a canonical form allowing stability conditions to be given by a linear matrix inequality. The main restriction for a system to admit the required representation is that its right-hand side has to be bounded on a unit sphere. It is shown that some nonhomogeneous systems can also be presented in the canonical form. Based on canonical representation a stabilizing control algorithm for affine in control nonlinear systems is presented with LMI-based tuning procedure. The results are supported with numerical examples.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122982614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655033
K. Suyama, N. Sebe
We propose safety design of control systems under the authorization by international standards, such as IEC 61508, via controllers for reducing the frequency of events that physical values in a control system deviates from the normal operating range.
{"title":"Safety design of control systems according to international standards*","authors":"K. Suyama, N. Sebe","doi":"10.23919/ecc54610.2021.9655033","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655033","url":null,"abstract":"We propose safety design of control systems under the authorization by international standards, such as IEC 61508, via controllers for reducing the frequency of events that physical values in a control system deviates from the normal operating range.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123534148","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655014
Liam Vile, H. Alwi, C. Edwards
In this paper a fault tolerant sliding mode control allocation law is proposed. The controller is designed through a particle swarm optimization method which ensures the closed loop system is optimal for multiple design objectives - including robustness to uncertainties in the actuator fault and failure information. The approach is tested for the control of a blended wing body aircraft’s lateral dynamics.
{"title":"An Automated Approach for the Design of a Fault Tolerant Controller","authors":"Liam Vile, H. Alwi, C. Edwards","doi":"10.23919/ecc54610.2021.9655014","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655014","url":null,"abstract":"In this paper a fault tolerant sliding mode control allocation law is proposed. The controller is designed through a particle swarm optimization method which ensures the closed loop system is optimal for multiple design objectives - including robustness to uncertainties in the actuator fault and failure information. The approach is tested for the control of a blended wing body aircraft’s lateral dynamics.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123632663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655225
José de Jesús Colín Robles, Ixbalank Torres, V. Alcaraz-González
In this paper the optimization of a continuous Dark Fermentation process is proposed in order to maximize the acetate production rate. The golden section search algorithm is used as optimization strategy to determine the optimum dilution rate despite the chemical oxygen demand at the reactor input. In order to estimate the influent chemical oxygen demand, a Luenberger observer together with a super-twisting observer are implemented. Feasibility of the proposed online optimization strategy is demonstrated by simulations.
{"title":"Discrete-time online optimization of a continuous Dark Fermentation process for maximizing VFA production","authors":"José de Jesús Colín Robles, Ixbalank Torres, V. Alcaraz-González","doi":"10.23919/ecc54610.2021.9655225","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655225","url":null,"abstract":"In this paper the optimization of a continuous Dark Fermentation process is proposed in order to maximize the acetate production rate. The golden section search algorithm is used as optimization strategy to determine the optimum dilution rate despite the chemical oxygen demand at the reactor input. In order to estimate the influent chemical oxygen demand, a Luenberger observer together with a super-twisting observer are implemented. Feasibility of the proposed online optimization strategy is demonstrated by simulations.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"60 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120921966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9654870
Markus Lukassek, Andreas Völz, Tomas Szabo, K. Graichen
This paper presents a method to stabilize a general vehicle-n-trailer configuration so that a specific point on the rearmost trailer follows a given reference path. The system can consist of any combination of on- and off-axle couplings. To achieve stabilization in forward and reverse driving, a model predictive control is used, which is based on a kinematic vehicle-trailer model. In order to follow the path with a specific point on the trailer, a coordinate transformation is applied to the cost function. This allows, amongst various applications, both the exact positioning of agricultural implements such as field sprayers and maneuvering double-turntable trailers with the rear edge of the trailer during alley docking. The optimization problem is solved with a real-time capable tailored gradient-based augmented Lagrangian approach. To validate the algorithm, simulations are performed against a dynamic two-track model with additive sensor noise. In one of the scenarios, an agricultural setup with one trailer in forward direction and a logistical setup with four trailers in reverse direction is demonstrated.
{"title":"Model Predictive Path-Following Control for General n-Trailer Systems with an Arbitrary Guidance Point","authors":"Markus Lukassek, Andreas Völz, Tomas Szabo, K. Graichen","doi":"10.23919/ecc54610.2021.9654870","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654870","url":null,"abstract":"This paper presents a method to stabilize a general vehicle-n-trailer configuration so that a specific point on the rearmost trailer follows a given reference path. The system can consist of any combination of on- and off-axle couplings. To achieve stabilization in forward and reverse driving, a model predictive control is used, which is based on a kinematic vehicle-trailer model. In order to follow the path with a specific point on the trailer, a coordinate transformation is applied to the cost function. This allows, amongst various applications, both the exact positioning of agricultural implements such as field sprayers and maneuvering double-turntable trailers with the rear edge of the trailer during alley docking. The optimization problem is solved with a real-time capable tailored gradient-based augmented Lagrangian approach. To validate the algorithm, simulations are performed against a dynamic two-track model with additive sensor noise. In one of the scenarios, an agricultural setup with one trailer in forward direction and a logistical setup with four trailers in reverse direction is demonstrated.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114115009","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655224
Iman Shafikhani, Christofer Sundström, J. Åslund, E. Frisk
Simultaneous optimization of fuel consumption and battery lifetime is addressed in this work. A differential capacity degradation model is used to predict capacity loss, and linear time-varying and nonlinear MPC techniques are used to solve the energy management problem. It is shown that penalizing battery power in the MPC cost function can prolong battery lifetime by about 50 percent while achieving small gains in fuel economy compared to when the cost function only aims to minimize fuel consumption. An analysis of robustness against uncertainties in drive-cycle information shows that the controller is well-behaved and has good performance under uncertainty.
{"title":"MPC-based energy management system design for a series HEV with battery life optimization","authors":"Iman Shafikhani, Christofer Sundström, J. Åslund, E. Frisk","doi":"10.23919/ecc54610.2021.9655224","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655224","url":null,"abstract":"Simultaneous optimization of fuel consumption and battery lifetime is addressed in this work. A differential capacity degradation model is used to predict capacity loss, and linear time-varying and nonlinear MPC techniques are used to solve the energy management problem. It is shown that penalizing battery power in the MPC cost function can prolong battery lifetime by about 50 percent while achieving small gains in fuel economy compared to when the cost function only aims to minimize fuel consumption. An analysis of robustness against uncertainties in drive-cycle information shows that the controller is well-behaved and has good performance under uncertainty.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114205023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655059
Sovanna Thai, C. Roos, J. Biannic, S. Theodoulis
This paper presents an autopilot design for a dual-spin guided projectile subject to aerodynamic uncertainties and actuator saturations. The proposed design consists of a gain-scheduled baseline controller together with an interpolated dynamic anti-windup compensator based on model recovery. Evaluation of the closed-loop is done through IQC-based analysis at an operating point, and through Monte Carlo simulations. Both assessments show that the addition of an anti-windup compensator can drastically improve the behaviour of the system in degraded flight conditions.
{"title":"An Interpolated Model Recovery Anti-Windup for a Canard-Guided Projectile Subject to Uncertainties","authors":"Sovanna Thai, C. Roos, J. Biannic, S. Theodoulis","doi":"10.23919/ecc54610.2021.9655059","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655059","url":null,"abstract":"This paper presents an autopilot design for a dual-spin guided projectile subject to aerodynamic uncertainties and actuator saturations. The proposed design consists of a gain-scheduled baseline controller together with an interpolated dynamic anti-windup compensator based on model recovery. Evaluation of the closed-loop is done through IQC-based analysis at an operating point, and through Monte Carlo simulations. Both assessments show that the addition of an anti-windup compensator can drastically improve the behaviour of the system in degraded flight conditions.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114836049","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ECC54610.2021.9655169
L. Carvalho, B. Jayawardhana, O. Costa
We present the design of ${mathcal{H}_infty }$ Fault Detection Filter (FDF) for Discrete-time Markov Jump Lur’e Systems with bounded sector condition based on the use of Linear Matrix Inequality (LMI). A numerical example is presented to illustrate the effectiveness of the proposed approach.
{"title":"Fault Detection Filter for Discrete-Time Markov Jump Lur’e Systems","authors":"L. Carvalho, B. Jayawardhana, O. Costa","doi":"10.23919/ECC54610.2021.9655169","DOIUrl":"https://doi.org/10.23919/ECC54610.2021.9655169","url":null,"abstract":"We present the design of ${mathcal{H}_infty }$ Fault Detection Filter (FDF) for Discrete-time Markov Jump Lur’e Systems with bounded sector condition based on the use of Linear Matrix Inequality (LMI). A numerical example is presented to illustrate the effectiveness of the proposed approach.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125451382","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9654836
M. Švec, Š. Ileš, J. Matuško
Torque Vectoring (TV) system uses an individually controlled electric powertrain to improve the dynamic behavior and enhance the handling and stability of a vehicle. In this paper, a Model Predictive Control (MPC) algorithm with a model of the vehicle identified using the Koopman operator theory is proposed. The Koopman operator is a linear predictor for nonlinear dynamical systems based on the lifting of the nonlinear dynamics in a higher-dimensional space where its evolution is linear. Using such a model may allow for achieving similar performance to those of a nonlinear MPC with the computational efficiency of a linear MPC. The Koopman MPC was compared to a Linear Time-Variant (LTV) MPC, a common approach in the existing literature, and showed increased performance.
{"title":"Predictive approach to torque vectoring based on the Koopman operator","authors":"M. Švec, Š. Ileš, J. Matuško","doi":"10.23919/ecc54610.2021.9654836","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654836","url":null,"abstract":"Torque Vectoring (TV) system uses an individually controlled electric powertrain to improve the dynamic behavior and enhance the handling and stability of a vehicle. In this paper, a Model Predictive Control (MPC) algorithm with a model of the vehicle identified using the Koopman operator theory is proposed. The Koopman operator is a linear predictor for nonlinear dynamical systems based on the lifting of the nonlinear dynamics in a higher-dimensional space where its evolution is linear. Using such a model may allow for achieving similar performance to those of a nonlinear MPC with the computational efficiency of a linear MPC. The Koopman MPC was compared to a Linear Time-Variant (LTV) MPC, a common approach in the existing literature, and showed increased performance.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125680164","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9654873
Han Yang, R. Morales
This manuscript develops full envelope flight control systems for a validated tilt rotor vehicle by using 2 different methods: ${mathcal{H}_infty }$ and Linear Parameter Varying. The former one leads to a single controller operating at a wide range of flight conditions, while the latter one results in a gain-scheduled controller, whose dynamics is varying and parameter dependent. Simulation results on the trimmed vehicle model show that both methods perform very well. Moreover, the comparison of the 2 strategies are carried out at several test points, illustrating pros and cons for each method.
{"title":"Flight Control Design for a Validated XV-15 Tilt Rotor Model: H ∞ vs Linear Parameter Varying","authors":"Han Yang, R. Morales","doi":"10.23919/ecc54610.2021.9654873","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654873","url":null,"abstract":"This manuscript develops full envelope flight control systems for a validated tilt rotor vehicle by using 2 different methods: ${mathcal{H}_infty }$ and Linear Parameter Varying. The former one leads to a single controller operating at a wide range of flight conditions, while the latter one results in a gain-scheduled controller, whose dynamics is varying and parameter dependent. Simulation results on the trimmed vehicle model show that both methods perform very well. Moreover, the comparison of the 2 strategies are carried out at several test points, illustrating pros and cons for each method.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132401359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：