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Trajectory tracking of AGVs by linear parameter-varying control: a case study

Trajectory tracking of AGVs by linear parameter-varying cont...

Joint Meeting of the 2nd IFAC Workshop on linear parameter varying Systems (LPVS) / 9th IFAC Symposium on Robust control Design (ROCOND)

作者： Jacobs, Laurens De Preter, Andreas Anthonis, Jan Swevers, Jan Pipeleers, Goele Katholieke Univ Leuven Dept Mech Engn MECO Res Team Leuven Belgium Flanders Make DMMS Lab Leuven Belgium Octin Bvba Leuven Belgium

This paper proposes a linear-parameter varying (LPV) controller design approach for trajectory tracking of an automated guided vehicle (AGV) based on a simple yet nonlinear kinematic model. By linearization of the model about a reference trajectory, an LPV model is readily obtained, which is then augmented with identified linear time-invariant actuator models. An appropriate parameter-dependent controller for the system is designed in an optimal way by specifying the control objectives in terms of H-infinity criteria. Its performance is assessed by means of experiments on the considered prototype of an autonomous platform. (C) 2018, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： automated guided vehicles linear parameter-varying control feedback control computer-aided control system design experimental validation

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Enhancing damping of gas bearings using linear parameter-varying control

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JOURNAL OF SOUND AND VIBRATION 2017年 395卷 48-64页

作者： Theisen, Lukas R. S. Niemann, Hans H. Galeazzi, Roberto Santos, Ilmar F. Tech Univ Denmark Dept Elect Engn DK-2800 Lyngby Denmark Tech Univ Denmark Dept Mech Engn DK-2800 Lyngby Denmark

Journal bearings can be lubricated through controllable injectors using pressurised fluids, whose viscosity highly determines the dynamic responses of the rotating machine. The use of fluids with low viscosity is attracting a growing interest due to the reduced friction forces and consequent losses when the machine is in operation. However low viscosity also entails poor damping properties, which may lead to degraded performance or even instability when the rotating machine operates at or near one of the modal frequencies. This issue can be properly addressed by employing active feedback control systems to regulate the injection pressure of the fluid. Due to the strong dependencies of system performance on system parameters, the sought controller should be robust over a large range of operational conditions. This paper addresses the damping enhancement of controllable gas bearings through robust control approaches. Through an extensive experimental campaign the paper evaluates two robust controllers, a linear parameter varying (LPV) controller and H-infinity controller, on their capability to guarantee stability and peiformance of a gas bearing across the large operational envelopes in rotational speed and injection pressure. The control systems are designed applying state-of-the-art methods in the respective areas. The experimental results clearly demonstrate the feasibility of enhancing the damping properties of a gas bearing by means of robust control methods. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： controllable gas bearings Experimental validation linear parameter-varying control Rotordynamics

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Improved Integrated Powertrain control of Gearshifts Using linear parameter varying control

Improved Integrated Powertrain Control of Gearshifts Using L...

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American control Conference

作者： Kirti Deo Mishra Krishnaswamy Srinivasan The Ohio State University Columbus OH 43210 USA

ISBN: (纸本)9781538679012;9781538679265

Automatic transmission designs in automotive powertrains are expected to continue present trends towards higher numbers of transmission gear ratios with wider ratio spreads and smaller ratio steps, owing to their ability to improve fuel economy, while simultaneously satisfying stringent emissions norms. They are also expected to exhibit increased frequency of gearshifting, which requires re-evaluation of various aspects of the control of gearshifts. It is recognized here that clutch-to-clutch gearshift efficiency and quality (comfort) can be improved by minimizing the energy dissipated by the (oncoming) clutch during the speed synchronization (inertia) phase of a power-on upshift, which in turn would require control of both the engine and the (oncoming) clutch during the inertia phase. In order to achieve this control objective in a robust manner, it is proposed that both the engine and the (oncoming) clutch be under feedback control, unlike current practice in transmission control design where only the clutch is under feedback control. Gearshift control is particularly challenging for a 1-2 power-on upshift since the powertrain response is nonlinear due to the open torque converter clutch and, furthermore, a large ratio change is involved. The linear parameter varying (LPV) control technique is used here to design a gain-scheduled observer-based state feedback controller. It is shown through tests on a powertrain simulation that the resulting control solution is effective in controlling the inertia phase of gearshifts at different throttle openings, and is also robust to realistic modeling errors.

关键词： Gear shifting linear parameter-varying control Engines feedback control Inertial forces state feedback controller

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NASA Technical Reports Server (Ntrs) 20030005491: linear parameter varying control Synthesis for Actuator Failure, Based on Estimated parameter

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2017年

NASA Technical Reports Server (Ntrs) 20030005491: linear parameter varying control Synthesis for Actuator Failure, Based on Estimated parameter by NASA Technical Reports Server (Ntrs); published by

关键词： (ntrs) 20030005491: actuator actuators aircraft control based belcastro, christine error analysis failure highly maneuverable aircraft kalman filters linear parameter-varying control nasa technical reports server (ntrs) parameter shin, jong-yeob wu, n. eva

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NASA Technical Reports Server (Ntrs) 20020085394: linear parameter varying control for Actuator Failure

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2017年

NASA Technical Reports Server (Ntrs) 20020085394: linear parameter varying control for Actuator Failure by NASA Technical Reports Server (Ntrs); published by

关键词： (ntrs) 20020085394: actuator actuators belcastro, christine control control systems design controllability controllers failure fault tolerance linear parameter-varying control nasa technical reports server (ntrs) on-line systems parameter identification scheduling shin, jong-yeob wu, n. eva

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linear parameter-varying control of permanent magnet synchronous generators for wind power systems

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IET POWER ELECTRONICS 2014年第3期7卷 692-704页

作者： Trilla, Lluis Bianchi, Fernando D. Gomis-Bellmunt, Oriol IREC Dept Elect Engn Barcelona 08930 Spain Univ Politecn Catalunya CITCEA UPC ETSEIB Barcelona 08028 Spain

This study presents an optimal control strategy for the electronic interface of a wind energy conversion system based on a permanent magnet synchronous generator (PMSG). A linear optimal control is used on the grid side of the interface to ensure a proper power transfer and a linear parameter-varying (LPV) control on the machine side to cope with the wide operating conditions demanded by the wind turbine applications. The dynamics of a PMSG working in a variable speed wind turbine is affected by the rotational speed of the wind rotor. The LPV control uses the generator speed as a scheduling variable to adapt itself to different operating conditions. The proposed scheme results in a multi-variable self-scheduled controller with a PI structure similar to classical approaches. Thus, the control ensures performance and stability in all possible operating conditions whereas the implementation and the numerical stability are similar to previous schemes. The proposed control has been implemented in a test bench that includes a fully-rated back-to-back converter. The experimental results show a good performance in different scenarios in which the controller has to adapt itself to highly varying operating conditions.

关键词： machine control multivariable control systems numerical stability optimal control permanent magnet generators PI control power generation control synchronous generators wind power plants wind turbines fully-rated back-to-back converter numerical stability PI structure multivariable self-scheduled controller scheduling variable generator speed wind rotor rotational speed variable speed wind turbine wind turbine application LPV control power transfer interface grid side linear optimal control PMSG dynamics wind energy conversion system electronic interface optimal control strategy wind power systems permanent magnet synchronous generators linear parameter-varying control

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A Polynomial Chaos Framework for Designing linear parameter varying control Systems

A Polynomial Chaos Framework for Designing Linear Parameter ...

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American control Conference

作者： Raktim Bhattacharya Faculty of Aerospace Engineering Texas A&M University College Station TX 77843-3141

ISBN: (纸本)9781479917730

Here we use polynomial chaos framework to design controllers for linear parameter varying (LPV) dynamical systems. We assume the scheduling variable to be random and use polynomial chaos approach to synthesize the controller for the resulting linear stochastic dynamical system. The stability of the LPV system is formulated as an exponential meansquare (EMS) stability problem. Two algorithms are presented that guarantee EMS stability of the stochastic system and correspond to parameter dependent and independent Lyapunov functions, respectively. LPV controllers from the polynomial chaos based framework is shown to outperform LPV controller from classical design for an example nonlinear system.

关键词： controllers linear parameter-varying control chaos Polynomial control systems Frameworks DYNAMICAL SYSTEMS

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Modeling and control of Diesel Engine Emissions using Multi-layer Neural Networks and Economic Model Predictive control 22

Modeling and Control of Diesel Engine Emissions using Multi-...

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22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Zhang, Jiadi Li, Xiao Amini, Mohammad Reza Kolmanovsky, Ilya Tsutsumi, Munechika Nakada, Hayato Univ Michigan Dept Aerosp Engn Ann Arbor MI 48109 USA Univ Michigan Dept Naval Architecture & Marine Engn Ann Arbor MI 48109 USA Hino Motors Ltd Tokyo 1918660 Japan

ISBN: (纸本)9781713872344

This paper presents the results of developing a multi-layer Neural Network (NN) to represent diesel engine emissions and integrating this NN into control design. Firstly, a NN is trained and validated to simultaneously predict oxides of nitrogen (NOx) and Soot using both transient and steady-state data. Based on the input-output correlation analysis, inputs to NN with the highest influence on the emissions are selected while keeping the NN structure simple. Secondly, a co-simulation framework is implemented to integrate the NN emissions model with a model of a diesel engine airpath system built in GT-Power and used to identify a low-order linear parameter-varying (LPV) model for emissions prediction. Finally, an economic supervisory model predictive controller (MPC) is developed using the LPV emissions model to adjust setpoints to an inner-loop airpath tracking MPC. Simulation results are reported illustrating the capability of the resulting controller to reduce NOx, meet the target Soot limit, and track the adjusted intake manifold pressure and exhaust gas recirculation (EGR) rate targets. Copyright (c) 2023 The Authors.

关键词： Model predictive control linear parameter-varying control Neural networks Diesel engine control

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linear parameter varying control Synthesis: State Feedback versus H∞ Technique with Application to Quadrotor UAV

Linear Parameter Varying Control Synthesis: State Feedback v...

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International Conference on Unmanned Aircraft Systems

作者： Iman Sadeghzadeh Abbas Chamseddine Didier Theilliol Youmin Zhang Department of Mechanical and Industrial Engineering of Concordia University Ecole de Technologie Superieure (ETS) and formally with Concordia University Research Centre for Automatic Control of Nancy (CRAN) at University of Lorraine

ISBN: (纸本)9781479923779

This paper focuses on the synthesis of linear parameter varying (LPV) control based on two different LPV control structures. In the first structure the H∞ self-Gain-Scheduling (GS) control technique is used to obtain the LPV controller and in the second method, the composite quadratic Lyapunov function and the quadratic cost function are used to find the optimal state feedback gain. Finally, a six-degree of freedom quadrotor helicopter is used as an illustrative plant to compare the results of both LPV control structures.

关键词： State feedback linear parameter-varying control Cost functions control Architecture Liapunov function Unmanned Aerial Vehicle drone honey bees synthesis Quadrotor helicopter

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Benefits of Feedforward for Model Predictive Airpath control of Diesel Engines 10th

Benefits of Feedforward for Model Predictive Airpath Control...

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10th IFAC Symposium on Robust control Design (ROCOND)

作者： Zhang, Jiadi Amini, Mohammad Reza Kolmanovsky, Ilya Tsutsumi, Munechika Nakada, Hayato Univ Michigan Dept Aerosp Engn Ann Arbor MI 48109 USA Univ Michigan Dept Naval Architecture & Marine Engn Ann Arbor MI 48109 USA Hino Motors Ltd Tokyo 1918660 Japan

This paper investigates options to complement a diesel engine airpath feedback controller with a feedforward. The control objective is to track the intake manifold pressure and exhaust gas recirculation (EGR) rate targets by manipulating the EGR valve and variable geometry turbine (VGT) while satisfying state and input constraints. The feedback controller is based on rate-based Model Predictive control (MPC) that provides integral action for tracking. Two options for the feedforward are considered one based on a look-up table that specifies the feedforward as a function of engine speed and fuel injection rate, and another one based on a (non-rate-based) MPC that generates dynamic feedforward trajectories. The controllers are designed and verified using a high-fidelity engine model in GT-Power and exploit a loworder rate-based linear parameter-varying (LPV) model for prediction which is identified from transient response data generated by the GT-Power model. It is shown that the combination of feedforward and feedback MPC has the potential to improve the performance and robustness of the control design. In particular, the feedback MPC without feedforward can lose stability at low engine speeds, while MPC-based feedforward results in the best transient response. Mechanisms by which feedforward is able to assist in stabilization and improve performance are discussed. Copyright (C) 2022 The Authors.

关键词： Model predictive control linear parameter-varying control Diesel airpath control

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