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Optimization-based Iterative Learning Speed control for Vehicle test Procedures

IFAC-PapersOnLine 2019年第5期52卷 516-522页

作者： Richard Seeber Stefan L. Hölzl Robert Bauer Martin Horn Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria Kristl Seibt & Co GmbH Graz Austria

Procedures for measuring the emissions of automotive vehicles typically include a speed trace that the driver has to track within prescribed tolerances. For development purposes, following this trace by means of automatic control is desirable in order to minimize costs. In this contribution, an iterative learning scheme is proposed that iteratively improves a feed-forward control signal. This is done by means of an optimization problem that takes the speed tolerances into account in the form of constraints. Experimental results obtained with a vehicle on a Road-to-Rig (R2R) test bed for a part of the Worldwide Harmonized Light Vehicle test Procedure (WLTP) are presented and compared to results of a pure PI control scheme. After very few iterations, both tolerance violations and sudden changes of the pedal position are eliminated, yielding a significantly improved driving behavior.

关键词： automotive control learning control iterative improvement optimal trajectory

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Discrete-Time Super Twisting controller for Networked control systems

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IFAC-PapersOnLine 2019年第16期52卷 789-794页

作者： Jakob Ludwiger Markus Reichhartinger Martin Steinberger Martin Horn Institute of Automation and Control Graz University of Technology Graz Austria Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

In this paper, a sliding mode based control concept for networked control systems in the presence of variable time delays and external perturbations is proposed. The control concept consists of a buffering mechanism and a discrete time integral sliding mode based control law. This setting offers the possibility to use discrete-time sliding mode control techniques designed for relative degree one systems. As a consequence, networked control algorithms can be developed based on recent results from this active field of research. Using a discretized version of the super twisting algorithm, which is obtained by the so-called matching approach, increases the accuracy due to the absence of discretization chattering. The effectiveness of the proposed control strategy is demonstrated by means of laboratory experiments.

关键词： Time-varying delay Sliding-mode control Discretization Closed-loop control

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Necessary and sufficient stability criterion for the super-twisting algorithm 15

Necessary and sufficient stability criterion for the super-t...

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15th International Workshop on Variable Structure systems, VSS 2018

作者： Seeber, Richard Horn, Martin Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria

ISBN: (纸本)9781538664391

The super-twisting algorithm is a second-order sliding mode algorithm that is commonly used for robust control and observation. Existing conditions guaranteeing its finite-time stability are either only sufficient or have to be checked by means of trajectories obtained from a numerical simulation. This contribution presents an analytic stability criterion for the super-twisting algorithm that is necessary and sufficient. © 2018 IEEE.

关键词： Stability criteria

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On the Discretization of the Super-Twisting Algorithm

On the Discretization of the Super-Twisting Algorithm

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IEEE Annual Conference on Decision and control

作者： Stefan Koch Markus Reichhartinger Martin Horn Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz University of Technology Graz Austria Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

In this work, a novel discretization scheme for the super-twisting algorithm is proposed. The approach relies on the discretization of the exact solution of the continuous-time algorithm. In this regard, the discretization chattering effect is avoided. Asymptotic stability of the unperturbed closed-loop system is proven by Lyapunov's direct method.

关键词： Eigenvalues and eigenfunctions Closed loop systems Asymptotic stability Linear systems Discrete-time systems Sliding mode control Oscillators

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An arbitrary-order predefined-time exact differentiator for signals with exponential growth bound

arXiv

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arXiv 2021年

作者： Gómez-Gutiérrez, David Aldana-López, Rodrigo Seeber, Richard Angulo, Marco Tulio Fridman, Leonid Intel Tecnología de México Intel Labs Intelligent Systems Research Lab Jalisco Mexico Tecnológico Nacional de México Instituto Tecnológico José Mario Molina Pasquel y Henríquez Unidad Académica Zapopan Jalisco Mexico Zaragoza Spain Graz University of Technology Institute of Automation and Control Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria CONACyT - Institute of Mathematics Universidad Nacional Autonoma de México Juriquilla Mexico Universidad Nacional Autonoma de México Engineering Faculty Ciudad Universitaria Mexico

There is a growing interest in differentiation algorithms that converge in fixed time with a predefined Upper Bound on the Settling Time (UBST). However, existing differentiation algorithms are limited to signals having an n-th order Lipschitz derivative. Here, we introduce a general methodology based on time-varying gains to circumvent this limitation, allowing us to design n-th order differentiators with a predefined UBST for the broader class of signals whose (n+1)-th derivative is bounded by a function with bounded logarithmic derivative. Unlike existing methods whose time-varying gain tends to infinity, our approach yields a time-varying gain that remains bounded at convergence time. We show how this last property maintains exact convergence using bounded gains when considering a compact set of initial conditions and improves the algorithm’s performance to measurement noise. © 2021, CC BY-NC-ND.

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An Anti-Windup Scheme for the Super-Twisting Algorithm

An Anti-Windup Scheme for the Super-Twisting Algorithm

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IEEE Annual Conference on Decision and control

作者： M. A. Golkani S. Koch R. Seeber M. Reichhartinger M. Horn Institute of Automation and Control Faculty of Electrical and Information Engineering Graz University of Technology Graz Austria Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

In this paper, a system, which is subject to perturbations and unknowns, with a saturating actuator is considered. In order to design a robust feedback control law based on the sliding mode approach, the standard super-twisting algorithm is modified adopting an anti-windup technique. Similar to the conventional super-twisting controller, the control signal introduced into the system is continuous everywhere. The performance of the conventional one is, however, significantly improved in the case that the initial condition of the system is far away from the origin. Global finite-time stability properties of the closedloop are investigated, which gives a parameter setting for the controller. Having employed numerical simulations, feasibility and effectiveness of the scheme are indicated.

关键词： Switches Actuators Sliding mode control Stability analysis Windup Perturbation methods

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Discrete-Time Equivalent Homogeneous Differentiators 15

Discrete-Time Equivalent Homogeneous Differentiators

引用

15th International Workshop on Variable Structure systems, VSS 2018

作者： Koch, Stefan Reichhartinger, Markus Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria Graz University of Technology Institute of Automation and Control Graz Austria

ISBN: (纸本)9781538664391

This paper proposes an entirely new discrete-time realization of an arbitrary order robust exact differentiator. Its construction relies on the redesign of the differentiator in the discrete-time domain by means of a non-linear eigenvalue placement. The resulting algorithm is consistent with the continuous-time algorithm and preserves the best possible asymptotic accuracies known from the continuous-time differentiator. In contrast to the existing discretization schemes, the proposed schemes are exact in the sense that in the unperturbed case the differentiators ensure vanishing estimation errors. Limit cycles typically present in the error state variables enforced by the forward Euler discretized algorithm are avoided and the precision is insensitive to an overestimation of the gains. © 2018 IEEE.

关键词： Eigenvalues and eigenfunctions

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A redesign methodology generating predefined-time differentiators with bounded time-varying gains

arXiv

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arXiv 2021年

作者： Aldana-López, Rodrigo Seeber, Richard Gómez-Gutiérrez, David Angulo, Marco Tulio Defoort, Michael María de Luna s/n Zaragoza50018 Spain Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz Austria Intel Tecnología de México Intel Labs Av. del Bosque 1001 Colonia El Bajío Jalisco Zapopan45019 Mexico Instituto Tecnológico José Mario Molina Pasquel y Henríquez Unidad Académica Zapopan Cam. Arenero 1101 Jalisco Zapopan45019 Mexico Universidad Nacional Autonoma de México CONACyT - Institute of Mathematics Boulevard Juriquilla 3001 Juriquilla Queretaro Mexico Polytechnic University of Hauts-de-France LAMIH UMR CNRS 8201 INSA Le Mont Houy Valenciennes CEDEX 9 ValenciennesF-59313 France

There is an increasing interest in designing differentiators, which converge exactly before a prespecified time regardless of the initial conditions, i.e., which are fixed-time convergent with a predefined Upper Bound of their Settling Time (UBST), due to their ability to solve estimation and control problems with time constraints. However, for the class of signals with a known bound of their (n + 1)-th time derivative, the existing design methodologies yield a very conservative UBST, or result in gains that tend to infinity at the convergence time. Here, we introduce a new methodology based on time-varying gains to design arbitrary-order exact differentiators with a predefined UBST. This UBST is a priori set as one parameter of the algorithm. Our approach guarantees that the UBST can be set arbitrarily tight, and we also provide sufficient conditions to obtain exact convergence while maintaining bounded time-varying gains. Additionally, we provide necessary and sufficient conditions such that our approach yields error dynamics with a uniformly Lyapunov stable equilibrium. Our results show how time-varying gains offer a general and flexible methodology to design algorithms with a predefined UBST. Copyright © 2021, The Authors. All rights reserved.

关键词： Machine learning

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Necessary and sufficient stability criterion for the super-twisting algorithm

Necessary and sufficient stability criterion for the super-t...

引用

International Workshop on Variable Structure systems, VSS

作者： Richard Seeber Martin Horn Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz University of Technology Graz Austria

关键词： Trajectory Numerical stability Stability criteria Perturbation methods Numerical simulation Lyapunov methods

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The Robust Exact Differentiator Toolbox: Improved Discrete-Time Realization 15

The Robust Exact Differentiator Toolbox: Improved Discrete-T...

引用

15th International Workshop on Variable Structure systems, VSS 2018

作者： Reichhartinger, M. Koch, S. Niederwieser, H. Spurgeon, S.K. Graz University of Technology Institute of Automation and Control Graz Austria Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria Information and Computer Engineering Graz University of Technology Graz Austria University College London Department of Electronic Electrical Engineering London United Kingdom

ISBN: (纸本)9781538664391

This paper presents a new release of A Robust Exact Differentiator Toolbox for Matlab®/Simulink® proposed in [1]. This release features a new discrete-time realization of the continuous-time robust exact differentiator. The implemented discretization scheme is less sensitive to gain overestimation and does not suffer from the discretization chattering effect. Hence, the single tuning parameter of the new version of the implemented differentiator is more intuitive to tune. Furthermore, it shows superior estimation performance in the case of large sampling times in comparison to the previous release. This is confirmed by the presented results obtained by numerical simulations and a real world application. © 2018 IEEE.

关键词： Simulink

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