Pub Date : 2009-07-08DOI: 10.1109/CCA.2009.5281165
B. Youssef, G. L. Solliec, G. Corde, O. Hayat, Christophe Jabeur, P. Calendini
In order to improve Diesel engine performances, new technologies has been investigated. A major development in this context, concerns the airpath architecture for which several setups are envisaged, variable geometry turbines, double stage turbochargers, high and low pressure EGR circuits. In parallel, the control structures have to be improved in order to address the new challenges. Adaptation of the conventional strategies based on steady state maps and proportional integral controllers becomes very difficult. This paper proposes a new method for low pressure EGR control. The proposed strategy is based on a physical representation of the system and can be easily adapted to new architectures. It has been validated by simulation and experimentally on a four cylinder Diesel engine.
{"title":"Low pressure EGR control for a turbocharged diesel HCCI engine","authors":"B. Youssef, G. L. Solliec, G. Corde, O. Hayat, Christophe Jabeur, P. Calendini","doi":"10.1109/CCA.2009.5281165","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281165","url":null,"abstract":"In order to improve Diesel engine performances, new technologies has been investigated. A major development in this context, concerns the airpath architecture for which several setups are envisaged, variable geometry turbines, double stage turbochargers, high and low pressure EGR circuits. In parallel, the control structures have to be improved in order to address the new challenges. Adaptation of the conventional strategies based on steady state maps and proportional integral controllers becomes very difficult. This paper proposes a new method for low pressure EGR control. The proposed strategy is based on a physical representation of the system and can be easily adapted to new architectures. It has been validated by simulation and experimentally on a four cylinder Diesel engine.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124124132","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280927
R. Amari, P. Tona, M. Alamir
In this paper, a phenomenological model of clutch torque transmissibility is proposed. This model applies to clutch engagement during vehicle start-up in both manual and automated-manual configurations. The proposed model can be identified through on board measurements available in most production vehicles. The model is based on the identification of a nonlinear characteristic that relates the transmissibility of engine torque to the mainshaft to the clutch actuator position and the clutch slip speed. To smooth the effect of neglected dependencies on torque transmissibility and obtain a non-linear characteristic with very low dispersion, the engine torque setpoint is also included in the model. An empirical estimation of load torque during start-up, dependent on slip speed and engine torque set-point, completes the model and improves its accuracy. The model has been identified and validated on two prototype vehicles with very different features: a small city car with an electrically-actuated automated manual transmission and a big executive car with a hydraulic-actuated manual transmission. An application example is given at the end of the paper to show the usefulness of the model: an alternative analysis, based on power computation, of the conditions that have to be respected to avoid oscillations at clutch engagement.
{"title":"A phenomenological model for torque transmissibility during dry clutch engagement","authors":"R. Amari, P. Tona, M. Alamir","doi":"10.1109/CCA.2009.5280927","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280927","url":null,"abstract":"In this paper, a phenomenological model of clutch torque transmissibility is proposed. This model applies to clutch engagement during vehicle start-up in both manual and automated-manual configurations. The proposed model can be identified through on board measurements available in most production vehicles. The model is based on the identification of a nonlinear characteristic that relates the transmissibility of engine torque to the mainshaft to the clutch actuator position and the clutch slip speed. To smooth the effect of neglected dependencies on torque transmissibility and obtain a non-linear characteristic with very low dispersion, the engine torque setpoint is also included in the model. An empirical estimation of load torque during start-up, dependent on slip speed and engine torque set-point, completes the model and improves its accuracy. The model has been identified and validated on two prototype vehicles with very different features: a small city car with an electrically-actuated automated manual transmission and a big executive car with a hydraulic-actuated manual transmission. An application example is given at the end of the paper to show the usefulness of the model: an alternative analysis, based on power computation, of the conditions that have to be respected to avoid oscillations at clutch engagement.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125139268","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280697
A. Kandil, E. Badreddin
In this paper a novel method for planning point-to-point robot trajectories will be introduced. With the new method, the requirement of an optimal path and the need of a slim motion due to the lack of free space can be compromised. The generated slim motion is suitable for applications where human-robot cooperation takes place and the workspace is considered to be constrained. This new method is based on the synchronized links motion with a constant ratio of the link angle positions. The proof that any PTP motion can be carried out under this constraint will be provided. The new method of synchronized motion will be illustrated at hand of some examples and compared with conventional methods.
{"title":"A new method for Direct and point-to-point robot trajectory planning in narrow spaces","authors":"A. Kandil, E. Badreddin","doi":"10.1109/CCA.2009.5280697","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280697","url":null,"abstract":"In this paper a novel method for planning point-to-point robot trajectories will be introduced. With the new method, the requirement of an optimal path and the need of a slim motion due to the lack of free space can be compromised. The generated slim motion is suitable for applications where human-robot cooperation takes place and the workspace is considered to be constrained. This new method is based on the synchronized links motion with a constant ratio of the link angle positions. The proof that any PTP motion can be carried out under this constraint will be provided. The new method of synchronized motion will be illustrated at hand of some examples and compared with conventional methods.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125441804","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281000
Q. Ahmed, A. I. Bhatti, S. Iqbal
This paper considers cross-coupling affects in a twin rotor system that leads to degraded performance during precise helicopter maneuvering. This cross-coupling can be suppressed implicitly either by declaring it as disturbance or explicitly by introducing decoupling techniques. The standard H∞ controller synthesized by loop-shaping design procedure (LSDP) offers robustness at the cost of performance to overcome cross-coupling. However, Hadamard weights are used to decouple the system dynamics to give desired performance as well. This idea has been successfully proved by simulations and verified through implementing it on a twin rotor system.
{"title":"Robust decoupling control design for twin rotor system using Hadamard weights","authors":"Q. Ahmed, A. I. Bhatti, S. Iqbal","doi":"10.1109/CCA.2009.5281000","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281000","url":null,"abstract":"This paper considers cross-coupling affects in a twin rotor system that leads to degraded performance during precise helicopter maneuvering. This cross-coupling can be suppressed implicitly either by declaring it as disturbance or explicitly by introducing decoupling techniques. The standard H∞ controller synthesized by loop-shaping design procedure (LSDP) offers robustness at the cost of performance to overcome cross-coupling. However, Hadamard weights are used to decouple the system dynamics to give desired performance as well. This idea has been successfully proved by simulations and verified through implementing it on a twin rotor system.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126241414","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281137
A. Aleksandrov, Yangzhou Chen, A. Platonov, Liguo Zhang
The problems of stability analysis and synthesis for a class of nonlinear switched systems are addressed in the paper. For arbitrary switching laws and any admissible nonlinear dynamical equations, sufficient linear inequalities conditions are investigated to make such systems are absolutely stable. Next, based on the constructive approach of the common Lyapunov function, a uniform ultimate boundedness controller is developed to guarantee the practical stability of the switched systems with the nonlinear and time-varying uncertain disturbance. A numerical example is given to demonstrate the efficiency of the proposed approach.
{"title":"Stability analysis and design of uniform ultimate boundedness control for a class of nonlinear switched systems","authors":"A. Aleksandrov, Yangzhou Chen, A. Platonov, Liguo Zhang","doi":"10.1109/CCA.2009.5281137","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281137","url":null,"abstract":"The problems of stability analysis and synthesis for a class of nonlinear switched systems are addressed in the paper. For arbitrary switching laws and any admissible nonlinear dynamical equations, sufficient linear inequalities conditions are investigated to make such systems are absolutely stable. Next, based on the constructive approach of the common Lyapunov function, a uniform ultimate boundedness controller is developed to guarantee the practical stability of the switched systems with the nonlinear and time-varying uncertain disturbance. A numerical example is given to demonstrate the efficiency of the proposed approach.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124800585","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281107
M. Saska, J. S. Mejía, D. Stipanović, K. Schilling
The formulation and solution of a minimum time optimal control problem for a formation conformed by nonholonomic car-like mobile robots and a virtual leader reaching a target zone in an environment that includes dynamic and static obstacles with arbitrary shapes, is provided in this paper. The proposed approach for solving the formation to target zone minimum time problem, is formulated using receding horizon control methodologies. Simulation results using the proposed methodology are also reported.
{"title":"Control and navigation of formations of car-like robots on a receding horizon","authors":"M. Saska, J. S. Mejía, D. Stipanović, K. Schilling","doi":"10.1109/CCA.2009.5281107","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281107","url":null,"abstract":"The formulation and solution of a minimum time optimal control problem for a formation conformed by nonholonomic car-like mobile robots and a virtual leader reaching a target zone in an environment that includes dynamic and static obstacles with arbitrary shapes, is provided in this paper. The proposed approach for solving the formation to target zone minimum time problem, is formulated using receding horizon control methodologies. Simulation results using the proposed methodology are also reported.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121372560","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281068
Dah-Jing Jwo, Chien-Hao Tseng
In this paper, application of fuzzy interacting multiple model unscented Kalman filter (FUZZY-IMMUKF) approach to integrated navigation processing for maneuvering vehicle is presented. The unscented Kalman filter (UKF) employs a set of sigma points through deterministic sampling, such that the linearization process is not necessary, and therefore the error caused by linearization as in the traditional extended Kalman filter (EKF) can be avoided. Fuzzy logic adaptive system (FLAS) is employed to determine the lower and upper bounds of the system noise through fuzzy inference system (FIS). The use of interacting multiple model (IMM), which describes a set of switching models, finally provides the suitable value of process noise covariance. Consequently, the resulting sensor fusion strategy can efficiently deal with the nonlinear problem in vehicle navigation. The proposed FUZZY-IMMUKF algorithm shows significant improvement in navigation estimation accuracy as compared to the UKF and interacting multiple model unscented Kalman filter (IMMUKF) approaches.
{"title":"Fuzzy adaptive interacting multiple model unscented Kalman filter for integrated navigation","authors":"Dah-Jing Jwo, Chien-Hao Tseng","doi":"10.1109/CCA.2009.5281068","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281068","url":null,"abstract":"In this paper, application of fuzzy interacting multiple model unscented Kalman filter (FUZZY-IMMUKF) approach to integrated navigation processing for maneuvering vehicle is presented. The unscented Kalman filter (UKF) employs a set of sigma points through deterministic sampling, such that the linearization process is not necessary, and therefore the error caused by linearization as in the traditional extended Kalman filter (EKF) can be avoided. Fuzzy logic adaptive system (FLAS) is employed to determine the lower and upper bounds of the system noise through fuzzy inference system (FIS). The use of interacting multiple model (IMM), which describes a set of switching models, finally provides the suitable value of process noise covariance. Consequently, the resulting sensor fusion strategy can efficiently deal with the nonlinear problem in vehicle navigation. The proposed FUZZY-IMMUKF algorithm shows significant improvement in navigation estimation accuracy as compared to the UKF and interacting multiple model unscented Kalman filter (IMMUKF) approaches.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121375803","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281038
H. Zargarzadeh, M. Jahed-Motlagh
Dealing with a multivariable non-minimum phase model of a boiler system, a LQG/LTR controller is designed which is well-known for its optimality and robustness. Firstly, the loop transfer function is shaped using LQG method; then, an observer is proposed with the aim of loop transfer recovery. Consequently, the designed controller is reduced to the lowest possible order for the sake of implementation easiness. Moreover, LQG design features are used to analyze stability margins when the system has a saturable actuator. Finally, numerical results demonstrate robustness of the system against the output disturbance, sensor response delay, and actuator saturability.
{"title":"Robust optimal controller design for a non-minimum phase boiler system with a saturable actuator","authors":"H. Zargarzadeh, M. Jahed-Motlagh","doi":"10.1109/CCA.2009.5281038","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281038","url":null,"abstract":"Dealing with a multivariable non-minimum phase model of a boiler system, a LQG/LTR controller is designed which is well-known for its optimality and robustness. Firstly, the loop transfer function is shaped using LQG method; then, an observer is proposed with the aim of loop transfer recovery. Consequently, the designed controller is reduced to the lowest possible order for the sake of implementation easiness. Moreover, LQG design features are used to analyze stability margins when the system has a saturable actuator. Finally, numerical results demonstrate robustness of the system against the output disturbance, sensor response delay, and actuator saturability.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126593615","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280720
Weisong Zhong, G. Dimirovski, Jun Zhao
This paper investigates synchronization dynamics of a complex delayed dynamical network as well as the effects of time-varying delay. Following the approach via Razumikhin Theorem, simple delay-dependent synchronization criteria are derived in terms of linear matrix inequalities, which can be verified via the interior-point algorithm. The proposed criteria can deal with a fast time-varying delay in coupling term and enabled removing the restriction on the derivative of the time-varying delay. The effectiveness of the proposed synchronization scheme and the theoretical results are illustrated by a numerical example.
{"title":"Synchronization of a class of complex dynamical networks with time-varying delay couplings","authors":"Weisong Zhong, G. Dimirovski, Jun Zhao","doi":"10.1109/CCA.2009.5280720","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280720","url":null,"abstract":"This paper investigates synchronization dynamics of a complex delayed dynamical network as well as the effects of time-varying delay. Following the approach via Razumikhin Theorem, simple delay-dependent synchronization criteria are derived in terms of linear matrix inequalities, which can be verified via the interior-point algorithm. The proposed criteria can deal with a fast time-varying delay in coupling term and enabled removing the restriction on the derivative of the time-varying delay. The effectiveness of the proposed synchronization scheme and the theoretical results are illustrated by a numerical example.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125123829","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280977
Georgia-Evangelia Katsargyri, I. Kolmanovsky, J. Michelini, M. Kuang, A. Phillips, M. Rinehart, M. Dahleh
Future Hybrid Electric Vehicles (HEVs) may use path-dependent operating policies to improve fuel economy. In our previous work, we developed a dynamic programming (DP) algorithm for prescribing the battery State of Charge (SoC) set-point, which in combination with a novel approach of route decomposition, has been shown to reduce fuel consumption over selected routes. In this paper, we propose and illustrate a receding horizon control (RHC) strategy for the on-board optimization of the fuel consumption. As compared to the DP approach, the computational requirements of the RHC strategy are lower. In addition, the RHC strategy is capable of correcting for differences between characteristics of a predicted route and a route actually traveled. Our numerical results indicate that the fuel economy potential of the RHC solution can approach that of the DP solution.
{"title":"Path dependent receding horizon control policies for Hybrid Electric Vehicles","authors":"Georgia-Evangelia Katsargyri, I. Kolmanovsky, J. Michelini, M. Kuang, A. Phillips, M. Rinehart, M. Dahleh","doi":"10.1109/CCA.2009.5280977","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280977","url":null,"abstract":"Future Hybrid Electric Vehicles (HEVs) may use path-dependent operating policies to improve fuel economy. In our previous work, we developed a dynamic programming (DP) algorithm for prescribing the battery State of Charge (SoC) set-point, which in combination with a novel approach of route decomposition, has been shown to reduce fuel consumption over selected routes. In this paper, we propose and illustrate a receding horizon control (RHC) strategy for the on-board optimization of the fuel consumption. As compared to the DP approach, the computational requirements of the RHC strategy are lower. In addition, the RHC strategy is capable of correcting for differences between characteristics of a predicted route and a route actually traveled. Our numerical results indicate that the fuel economy potential of the RHC solution can approach that of the DP solution.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126726501","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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