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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Trogmann, Hannes Del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Linz4040 Austria

ISBN: (纸本)9783902823625

Time optimal control of systems with bounded inputs is a numerically awkward problem as essentially a whole trajectory has to be designed on the basis of a single final point at unknown time. Analytical solutions are possible only for very few problems, in general numerical techniques will be needed, which, in view of the non convexity of the associated optimization problem, will typically converge to a local minimum. In case of an unknown but experimentally accessible nonlinear system, such a solution cannot be found numerically, but a learning algorithm has been proposed which typically converges to a solution not far from the optimal one. However, as in the case of numerical computations, no guarantee of global optimality can be given. In the numerical case, different randomization techniques can be used to ascertain the existence of better solutions, e.g. by choosing different initial conditions. This is more difficult in the case of an experimental method for unknown systems, but this paper proposes an approach based on virtual outputs (linear combination of measurable states) for the same goal which is shown to work in a classical problem of counterintuitive time optimal control - the fastest climbing of a plane. © IFAC.

关键词： Aircraft control

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Reduced Complexity Safety Testing for ADAS & ADF

Reduced Complexity Safety Testing for ADAS & ADF

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作者： Zhou, Jinwei Re, Luigi del Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Linz4040 Austria

This paper focuses on systematical evaluation of Advanced Driver Assistance systems and Automated Driving Functions. To overcome the curse of dimensionality we propose to use a test case catalogue, which is proven to have a good coverage of critical traffic situation. Secondly, a method for assessment of safety performance is introduced. It is based on evaluating the performance limit of automated vehicle in a given test case and relating it to its overall exposure rate in real world traffic situations. Through a case study, the parametrization and generation of test scenarios and evaluation for an ADAS(ACC) system is presented. © 2017

关键词： Safety testing

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A PCA-based modeling approach for estimation of road-tire forces by in-tire accelerometers 19

A PCA-based modeling approach for estimation of road-tire fo...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Krier, David Zanardo, Gabriele S. Del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Linz4040 Austria

ISBN: (纸本)9783902823625

The knowledge of the forces acting between tire and road is crucial for modern vehicle control systems. Typically, such forces are estimated on the basis of indirect measurements and rely on complex mathematical models. Sensors embedded in the tire (e.g. accelerometers) offer the possibility of directly reaching the area of the tire-road interaction, and of delivering signals during the wheel rotation. Such signals reflect the tire state and the force exchanged between tire and road. In this paper an innovative approach to estimate such forces is presented. It exploits the signal delivered during the wheel rotation by an accelerometer glued to the inner side of the tire tread. The approach consists in processing the signal by means of the Principal Component Analysis (PCA). The results of experimental activities employing a real vehicle provide evidence to support the feasibility and the soundness of the proposed approach. © IFAC.

关键词： Principal component analysis

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Robust Approximate Tracking of Matched Disturbance Non - control Affine systems

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IFAC Proceedings Volumes 2009年第2期42卷 17-22页

作者： P. Ortner E. Gruenbacher L. del Re Institute for Design and Control of mechatronical Systems

In this paper we discuss the problem of trajectory tracking of non control affine nonlinear systems. The main idea is to approximate the non control affine system by a special class of nonlinear systems, the so called extended Hammerstein systems (EHS). The control affine dynamic part of the EHS is computed such that an optimal control problem and therefore the robustifying feedback part of the tracking controller is already solved in the transformation process. Therefore no positive definite solution of the HJE needs to be computed since it gets a design parameter. The resulting system is then controlled by a trajectory tracking algorithm which ensures robustness against input disturbances and system uncertainties as well. A simulation example shows the efficiency of the proposed method.

关键词： Nonlinear control Nonlinear Tracking Non control Affine systems

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Analyzing the Potential of Advanced Insulin Dosing Strategies in Patients With Type 2 Diabetes: Results From a Hybrid In Silico Study

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Journal of Diabetes Science and Technology 2018年第5期12卷 1029-1040页

作者： Reiterer, Florian Reiter, Matthias del Re, Luigi Bechmann Christensen, Merete Nørgaard, Kirsten Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria Hvidovre University Hospital Hvidovre Denmark

Background: The ongoing improvement of continuous glucose monitoring (CGM) sensors and of insulin pumps are paving the way for a fast implementation of artificial pancreas (AP) for type 1 diabetes (T1D) patients. The case for type 2 diabetes (T2D) patients is less obvious since usually some residual beta cell function allows for simpler therapy approaches, and even multiple daily injections (MDI) therapy is not very widespread. However, the number of insulin dependent T2D patients is vastly increasing and therefore a need for understanding chances and challenges of an automated insulin therapy arises. Based on this background, this article analyzes conditions under which the use of more advanced therapeutic approaches, particularly AP, could bring a substantial improvement and should be considered as a viable therapy option. Method: Data of 14 insulin-treated T2D patients on MDI wearing a CGM device and deviation analysis methods were used to estimate the expected improvements in the clinical outcome by using self-monitoring of blood glucose (SMBG) with advanced carbohydrate counting, a full AP or intermediate approaches, either CGM measurements with MDI therapy or SMBG with insulin pump. HbA1C and time in range (70-140 mg/dl, 70-180 mg/dl, respectively) were used as a performance measure. Outcome measures beyond glycemic control (eg, compliance, patient acceptance) have not been analyzed in this study. Results: AP has the potential to improve the condition of many poorly controlled insulin-treated T2D patients. However, as the interpatient variability is much higher than in T1D, a prescreening is recommended to select suitable patients. Conclusions: Clinical criteria need to be developed for inclusion/exclusion of T2D patients for AP related therapies. © 2018 Diabetes Technology Society.

关键词： artificial pancreas deviation analysis diabetes therapy model predictive control type 2 diabetes

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Approximate optimal control by inverse CLF approach

Approximate optimal control by inverse CLF approach

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作者： Rohrweck, Hannes Schwarzgruber, Thomas del Re, Luigi Institute for Design and Control of mechatronical Systems Johannes Kepler University Linz Linz4040 Austria

This paper presents an approach to approximate the solution of the infinite horizon optimal control problem for a class of nonlinear systems. Instead of finding an approximate solution of the Hamilton-Jacobi-Bellman (HJB) equation for a given system and cost functional, a control lyapunov function (CLF) is constructed, that solves an optimal control problem for the same system but for a different and a-priori unknown cost-function. By adapting the CLF in an appropriate way, the inverse cost-function approximates the desired cost-function and therefore the found solution approximates the optimal solution. This approach does not only approximate the solution of the original optimal control problem, but it delivers the exact solution of a similar optimal control problem for the very same system. © 2015

关键词： Cost functions

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Emission aware eco-driving on country roads

Emission aware eco-driving on country roads

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ASME 2019 Dynamic systems and control Conference, DSCC 2019

作者： Deng, Junpeng Polterauer, Philipp Del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Linz4040 Austria

ISBN: (纸本)9780791859148

Eco-driving is a way to improve performance – mainly energy consumption – of road vehicles by computing an optimal speed and gear shifting profile based on vehicle data and road profile, e.g. slopes or speed limits. It mainly focuses on long haul scenarios such as highways, considering longitudinal movement only. Lateral acceleration of a vehicle is a critical quantity both in terms of comfort and safety, but its impact on fuel consumption or emissions is rarely considered or believed to be limited [1], as it does not affect directly the operating point of the engine. However, on country roads which usually present much stronger curvatures, lateral acceleration may be a critical constraint. In this paper, the impact of lateral acceleration limits on optimal solutions to multi-objective eco-driving is investigated. It is found that it may play an even more critical role than longitudinal acceleration with respect to fuel consumption and NOx emission. As a consequence, the choice of limits to lateral acceleration on curvy roads should be set very carefully in order to achieve a balance between energy saving, drivers comfort and travel time. The results of this work are validated on a high-feasibility Hardware-in-the-loop (HIL) system calibrated with data from Real Driving Emissions tests. Copyright © 2019 ASME

关键词： Travel time

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control design for a multi input single output hydraulic cylinder system 19

Control design for a multi input single output hydraulic cyl...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Schwarzgruber, Thomas Passenbrunner, Thomas Ernst Del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Linz4040 Austria

ISBN: (纸本)9783902823625

This work discusses several approaches to the multi input, single output problem in hydraulic control. The multi input problem arises from the fact, that the actuator force in a hydraulic cylinder is the result of a combination of two pressure states, which is not uniquely defined. With each individual pressure state there may be associated a subsystem with a control input. To achieve a desired actuator force there are inifinitely many combinations of pressure values possible, and it is therefore unclear how to chose the tracking reference values for the pressure subsystems. Secondary objectives are defined, with time optimality of the step response of the subsystems being one of them, that can be used to solve the multi input problem by treating it as an optimization problem. The practical implications of the optimal solutions are discussed and a new solution is proposed, motivated by the results of the optimization problems. The proposed solution is used to develop a backstepping control for a hydraulic multi input single output system, and its performance is shown in simulation. © IFAC.

关键词： Hydraulic actuators

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A design framework for nonlinear predictive engine control

A design framework for nonlinear predictive engine control

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作者： Wang, Xiaoming Ortner, Peter Alberer, Daniel Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz 4040 Linz Austria

ISBN: (纸本)9783902661586

Model predictive control (MPC) has been proposed several times for automotive control, with promising results, mostly based on a linear MPC approach. However, as most automotive systems are nonlinear, nonlinear MPC (NMPC) would be an interesting option. Unfortunately, an optimal control design with a generic nonlinear model usually leads to a complex, non convex problem. Against this background, this paper proposes a control system design based on a nonlinear system identification using a quasi linear parameter varying (LPV) structure, which is then used in a NMPC design framework. This paper presents the approach and the application to a well studied system, the air path of a Diesel engine. © 2009 IFAC.

关键词： Diesel engines

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Driver-control interaction of a curve-safe braking control for motorcycles

Driver-control interaction of a curve-safe braking control f...

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2007 World Congress

作者： Hirsch, Markus Alberer, Daniel Del Re, Luigi Schelhaas, Clemens Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria KTM Sport Motorcycles

Two-wheel vehicles are becoming continuously more important in Europe, but their spread is accompanied by an increase in security concerns due a number of reasons. These include stability problems during braking, and in particular curve braking, which is much more critical than in 4-wheel vehicles. These stability problems are strongly influenced by the behavior of the driver, in particular by his braking and steering activity. In this work we present a curve-safe ABS control, and analyze the role of the driver by a simulation model. It turns out that the demands on the driver in terms of stability control vary strongly with the braking behavior. Copyright © 2007 SAE International.

关键词： Braking

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