Pub Date : 2014-12-11DOI: 10.1109/CCA.2014.6981369
D. Nelson-Gruel, Y. Chamaillard, A. Charlet, G. Colin
Legislation concerning pollutant emissions of diesel passenger cars is becoming increasingly restrictive, especially for nitrogen oxide (NOx) and particulate matter (PM). This article proposes to apply a CRONE control design methodology on a diesel engine in order to adapt the air-path and fuel-path of the engine and minimize NOx emissions. As the multivariable CRONE control strategies need a nominal transfer function (G0(s)) and some frequency response of the system (G(s)), several test-bench experiments and a linear identification of the system were performed. The aim of this approach was to find a decoupling and stabilizing controller for the combustion engine that minimized NOx emissions at each operating point considered and during transient of torque/engine speed. The system is a square multivariable system with three inputs: Exhaust gas recirculation valve (EGR), variable geometry turbine (VGT), and start of injection (SOI); and three outputs: mass air flow (MAF), boost pressure (Pboost) and NOx level (NOx). The CRONE control approach developed for multivariable square plants is based on the third generation scalar CRONE methodology. Fractional order transfer functions were used to define all the components of the diagonal open-loop transfer matrix, β0. Optimisation gave the best fractional open-loop transfer matrix and finally, frequency domain system identification was used to find a robust controller k(s) = G-10(s)β0(s). Performances of the proposed control structure were tested and validated with a number of experiments on a high dynamic test bed (NEDC driving cycle).
{"title":"Robust control applied to minimize NOx emissions","authors":"D. Nelson-Gruel, Y. Chamaillard, A. Charlet, G. Colin","doi":"10.1109/CCA.2014.6981369","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981369","url":null,"abstract":"Legislation concerning pollutant emissions of diesel passenger cars is becoming increasingly restrictive, especially for nitrogen oxide (NOx) and particulate matter (PM). This article proposes to apply a CRONE control design methodology on a diesel engine in order to adapt the air-path and fuel-path of the engine and minimize NOx emissions. As the multivariable CRONE control strategies need a nominal transfer function (G0(s)) and some frequency response of the system (G(s)), several test-bench experiments and a linear identification of the system were performed. The aim of this approach was to find a decoupling and stabilizing controller for the combustion engine that minimized NOx emissions at each operating point considered and during transient of torque/engine speed. The system is a square multivariable system with three inputs: Exhaust gas recirculation valve (EGR), variable geometry turbine (VGT), and start of injection (SOI); and three outputs: mass air flow (MAF), boost pressure (Pboost) and NOx level (NOx). The CRONE control approach developed for multivariable square plants is based on the third generation scalar CRONE methodology. Fractional order transfer functions were used to define all the components of the diagonal open-loop transfer matrix, β0. Optimisation gave the best fractional open-loop transfer matrix and finally, frequency domain system identification was used to find a robust controller k(s) = G-10(s)β0(s). Performances of the proposed control structure were tested and validated with a number of experiments on a high dynamic test bed (NEDC driving cycle).","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114553847","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981565
N. K. Haddad, A. Chemori, S. Belghith
Proving the robustness, vis-à-vis external disturbances of IDA-PBC (Interconnexion Damping Assignment, Passive Based Control) controller for underactuated mechanical systems is addressed in this paper. Some sufficient stability conditions on matched and unmatched disturbances are provided. As illustration we propose to revisit the application of IDA-PBC controller to the Inertia Wheel Inverted Pendulum (IWIP) in the presence of external disturbances. Simulations and real-time experimental results are presented as validations of the theoretical results.
本文研究了欠驱动机械系统的IDA-PBC (interconnecion Damping Assignment, Passive Based Control)控制器对-à-vis外部扰动的鲁棒性。给出了匹配扰动和不匹配扰动的充分稳定性条件。作为说明，我们建议重新审视IDA-PBC控制器在存在外部干扰的惯性轮倒立摆(IWIP)中的应用。仿真和实时实验结果验证了理论结果。
{"title":"External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments","authors":"N. K. Haddad, A. Chemori, S. Belghith","doi":"10.1109/CCA.2014.6981565","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981565","url":null,"abstract":"Proving the robustness, vis-à-vis external disturbances of IDA-PBC (Interconnexion Damping Assignment, Passive Based Control) controller for underactuated mechanical systems is addressed in this paper. Some sufficient stability conditions on matched and unmatched disturbances are provided. As illustration we propose to revisit the application of IDA-PBC controller to the Inertia Wheel Inverted Pendulum (IWIP) in the presence of external disturbances. Simulations and real-time experimental results are presented as validations of the theoretical results.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117050899","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981397
L. Gracia, A. Sala, F. Garelli
This work presents a reactive geometric invariance method for the coordination of multi-robot systems. Some of the constraints representing the coordination of the multi-robot system are defined in terms of robot sensors that are not affected by the robot kinematics error, e.g., due to miscalibrations or lack of repeatability, in order to obtain accurate enough measurements, other constraints are in joint coordinates. Then, the fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The effectiveness of the proposed approach is illustrated by 2D simulation results for two 3R planar robots.
{"title":"A reactive geometric-invariance approach for robot coordination","authors":"L. Gracia, A. Sala, F. Garelli","doi":"10.1109/CCA.2014.6981397","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981397","url":null,"abstract":"This work presents a reactive geometric invariance method for the coordination of multi-robot systems. Some of the constraints representing the coordination of the multi-robot system are defined in terms of robot sensors that are not affected by the robot kinematics error, e.g., due to miscalibrations or lack of repeatability, in order to obtain accurate enough measurements, other constraints are in joint coordinates. Then, the fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The effectiveness of the proposed approach is illustrated by 2D simulation results for two 3R planar robots.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116025103","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981327
Markus Bachinger, M. Stolz, M. Horn
This article proposes a technique for fixed timestep state observation of automotive gear transmissions containing multiple friction elements like clutches and brakes. As adaptive time-step methods are not feasible for embedded control, the solution of model equations containing friction elements is a major challenge. The suitability of the proposed approach for a complex gear transmission comprising multiple friction elements is demonstrated by modeling and fixed timestep simulation. Based on that model, a fixed time-step proportional integral state observer is derived, that permits embedded execution at execution rates of common automotive control units.
{"title":"Fixed time-step drivetrain observer for embedded automotive applications","authors":"Markus Bachinger, M. Stolz, M. Horn","doi":"10.1109/CCA.2014.6981327","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981327","url":null,"abstract":"This article proposes a technique for fixed timestep state observation of automotive gear transmissions containing multiple friction elements like clutches and brakes. As adaptive time-step methods are not feasible for embedded control, the solution of model equations containing friction elements is a major challenge. The suitability of the proposed approach for a complex gear transmission comprising multiple friction elements is demonstrated by modeling and fixed timestep simulation. Based on that model, a fixed time-step proportional integral state observer is derived, that permits embedded execution at execution rates of common automotive control units.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"614 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116472055","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981329
Martin Kirchengast, Martin Steinberger, M. Horn
In automotive clutch applications the use of purely electromagnetic actuators is not yet very common. Their dynamics are nonlinear and often subject to kinematic constraints. Therefore their accurate control is a challenging task. In this paper, a plant model of an electromagnetic clutch actuator is developed from the corresponding physical principles. On this basis, a position controller for the electromagnet's armature utilizing feedback linearization is presented. It allows smooth and fast armature movement without introducing unwanted torque jerks into the drive train. The effectiveness of the control strategy is shown in simulations where it is compared to a conventional PID controller.
{"title":"Modeling and feedback linearization based control of an electromagnetic clutch actuator","authors":"Martin Kirchengast, Martin Steinberger, M. Horn","doi":"10.1109/CCA.2014.6981329","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981329","url":null,"abstract":"In automotive clutch applications the use of purely electromagnetic actuators is not yet very common. Their dynamics are nonlinear and often subject to kinematic constraints. Therefore their accurate control is a challenging task. In this paper, a plant model of an electromagnetic clutch actuator is developed from the corresponding physical principles. On this basis, a position controller for the electromagnet's armature utilizing feedback linearization is presented. It allows smooth and fast armature movement without introducing unwanted torque jerks into the drive train. The effectiveness of the control strategy is shown in simulations where it is compared to a conventional PID controller.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126196415","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981564
Congcong Sun, V. Puig, G. Cembraño
In this paper, a two-layer scheduling scheme for pump stations in a water distribution network has been proposed. The upper layer, which works in one-hour sampling time, uses Model Predictive Control (MPC) to produce continuous flow set-points for the lower layer. While in the lower layer, a scheduling algorithm has been used to translate the continuous flow set-points to a discrete (ON-OFF) control operation sequence of the pump stations with the constraints that pump stations should draw the same amount of water as the continuous flow set-points provided by the upper layer. The tuning parameters of such algorithm are the lower layer control sampling period and the number of parallel pumps in the pump station. The proposed method has been tested in the Richmond case study.
{"title":"Two-layer scheduling scheme for pump stations","authors":"Congcong Sun, V. Puig, G. Cembraño","doi":"10.1109/CCA.2014.6981564","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981564","url":null,"abstract":"In this paper, a two-layer scheduling scheme for pump stations in a water distribution network has been proposed. The upper layer, which works in one-hour sampling time, uses Model Predictive Control (MPC) to produce continuous flow set-points for the lower layer. While in the lower layer, a scheduling algorithm has been used to translate the continuous flow set-points to a discrete (ON-OFF) control operation sequence of the pump stations with the constraints that pump stations should draw the same amount of water as the continuous flow set-points provided by the upper layer. The tuning parameters of such algorithm are the lower layer control sampling period and the number of parallel pumps in the pump station. The proposed method has been tested in the Richmond case study.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129145666","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981471
A. Abooee, M. Haeri
This paper deals with the synchronization of two Lur'e differential inclusions containing sector nonlinearity. Lyapunov stability theorem is employed to design the control inputs. The controllers are designed considering three important practical features in physical systems. First, differential equation part of the Lur'e differential inclusion is assumed to be convex. Second, it is presumed that parameters of the Lur'e differential inclusion are not completely known. Third, sector nonlinearities are considered on control inputs applied to the Lur'e differential inclusions. To assess performance and effectiveness of the proposed controllers, synchronization of two rotor dynamic systems is simulated.
{"title":"Free chattering synchronization of two Lur'e differential inclusions with sector input nonlinearity","authors":"A. Abooee, M. Haeri","doi":"10.1109/CCA.2014.6981471","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981471","url":null,"abstract":"This paper deals with the synchronization of two Lur'e differential inclusions containing sector nonlinearity. Lyapunov stability theorem is employed to design the control inputs. The controllers are designed considering three important practical features in physical systems. First, differential equation part of the Lur'e differential inclusion is assumed to be convex. Second, it is presumed that parameters of the Lur'e differential inclusion are not completely known. Third, sector nonlinearities are considered on control inputs applied to the Lur'e differential inclusions. To assess performance and effectiveness of the proposed controllers, synchronization of two rotor dynamic systems is simulated.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"63 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130741266","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981609
Byung-Eul Jun, Chang-hun Lee
In this paper, an integrated pitch/yaw autopilot for the acceleration control of the projectile with rotating canards is proposed based on the linear quadratic control methodology. The pitch/yaw motions of such munitions are highly coupled so that it is not easy to control both pitch and yaw accelerations. As a remedy, we propose the integrated pitch/yaw output feedback structures based on the classical three-loop topology. Then, the optimal control gains are determined by solving the linear quadratic regulator (LQR) problem. The proposed autopilot is tested with nonlinear simulations to investigate its performance.
{"title":"Integrated pitch/yaw acceleration controller for projectile with rotating canards using linear quadratic control methodology","authors":"Byung-Eul Jun, Chang-hun Lee","doi":"10.1109/CCA.2014.6981609","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981609","url":null,"abstract":"In this paper, an integrated pitch/yaw autopilot for the acceleration control of the projectile with rotating canards is proposed based on the linear quadratic control methodology. The pitch/yaw motions of such munitions are highly coupled so that it is not easy to control both pitch and yaw accelerations. As a remedy, we propose the integrated pitch/yaw output feedback structures based on the classical three-loop topology. Then, the optimal control gains are determined by solving the linear quadratic regulator (LQR) problem. The proposed autopilot is tested with nonlinear simulations to investigate its performance.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130445083","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981335
S. Bezzaoucha, B. Marx, D. Maquin, J. Ragot
This paper addresses the Finite Memory Observer (FMO) design applied to polytopic models. After a brief introduction on FMO for linear systems, the nonlinear models represented in a Takagi-Sugeno (T-S) or Poly-topic form are then considered. The considered observer design will be applied to investigate the fault diagnosis for nonlinear discrete-time systems subject to unknown input where joint system states and unknown inputs estimation is proposed.
{"title":"Finite memory state observer design for polytopic systems. Application to actuator fault diagnosis","authors":"S. Bezzaoucha, B. Marx, D. Maquin, J. Ragot","doi":"10.1109/CCA.2014.6981335","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981335","url":null,"abstract":"This paper addresses the Finite Memory Observer (FMO) design applied to polytopic models. After a brief introduction on FMO for linear systems, the nonlinear models represented in a Takagi-Sugeno (T-S) or Poly-topic form are then considered. The considered observer design will be applied to investigate the fault diagnosis for nonlinear discrete-time systems subject to unknown input where joint system states and unknown inputs estimation is proposed.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116069841","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981410
Xiaohai Lin, D. Görges, Steven Liu
In this paper an eco-driving assistance system for reducing the energy consumption in electric vehcles is proposed. An accurate electric vehicle model is developed and an optimal control problem is formulated. The optimal control problem is solved based on dynamic programming. As a result an energy-optimal speed profile is obtained. This speed profile is displayed to the driver for eco-drving assistance. Experiments indicate that the speed profile can be tracked well by the driver and that the energy consumption can be reduced substantially.
{"title":"Eco-driving assistance system for electric vehicles based on speed profile optimization","authors":"Xiaohai Lin, D. Görges, Steven Liu","doi":"10.1109/CCA.2014.6981410","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981410","url":null,"abstract":"In this paper an eco-driving assistance system for reducing the energy consumption in electric vehcles is proposed. An accurate electric vehicle model is developed and an optimal control problem is formulated. The optimal control problem is solved based on dynamic programming. As a result an energy-optimal speed profile is obtained. This speed profile is displayed to the driver for eco-drving assistance. Experiments indicate that the speed profile can be tracked well by the driver and that the energy consumption can be reduced substantially.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116736134","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}
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