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2012 IEEE International Conference on control System, Computing and Engineering, ICCSCE 2012

作者： Hamzah, Norhazimi Aripin, M Khairi Sam, Yahaya Md Selamat, Hazlina Ismail, Muhamad Fahezal Faculty of Electrical Engineering Universiti Teknologi MARA Pulau Pinang Malaysia Control Instrumentation and Automation Department Faculty of Electrical Engineering UTeM Melaka Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Industrial Automation Section UniklMfi Selangor Malaysia

ISBN: (纸本)9781467331432

The vehicle handling and stability in emergency situation can be enhanced with direct yaw moment control (DYC). In this paper, a new controller using super twisting technique based on second order sliding mode control (SOSM) is proposed for the yaw moment control. The controller is designed based on two degree of freedom (2DOF) nonlinear model. The effectiveness of the proposed controller is compared to PI controller and conventional sliding mode controller by co-simulations in CarSim and Matlab/Simulink. The results show that the SOSM give better performance in tracking the desired response necessary for the vehicle handling and stability. In addition, the chattering phenomenon is also reduced, giving a smooth tracking trajectory. © 2012 IEEE.

关键词： controllers

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Yaw stability improvement for four-wheel active steering vehicle using sliding mode control

Yaw stability improvement for four-wheel active steering veh...

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2012 IEEE 8th International Colloquium on Signal Processing and Its Applications, CSPA 2012

作者： Hamzah, Norhazimi Sam, Yahaya Md Selamat, Hazlina Aripin, M. Khairi Ismail, Muhamad Fahezal Faculty of Electrical Engineering Universiti Teknologi MARA Pulau Pinang Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Control Instrumentation and Automation Department Faculty of Electrical Engineering UTeM Melaka Malaysia Industrial Automation Section UniklMfi Selangor Malaysia

ISBN: (纸本)9781467309615

Active steering control is one of the approach that can be used to improve the vehicle's lateral and yaw stability. By combining active front steering and active rear steering control, the vehicle's handling and stability can be improved via four wheel active steering (4WAS) control. In this paper, a robust control algorithm of sliding mode control is designed for 4WAS vehicle. Single track 2 d.o.f linear model is utilized for controller design and simulation purpose. Simulation for 4WAS and front steering (AFS) is carried out in Simulink for step steer and double lane change maneuver to verify the effectiveness of the proposed control system. The result shows that the 4WAS perform better than the AFS in tracking the desired response trajectory. © 2012 IEEE.

关键词： Sliding mode control

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Abstractions for Mechanical Systems *

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IFAC Proceedings Volumes 2012年第19期45卷 96-101页

作者： Christoffer Sloth Rafael Wisniewski Department of Computer Science Aalborg University 9220 Aalborg East Denmark Section of Automation & Control Aalborg University 9220 Aalborg East Denmark

This paper proposes a method for discretizing the state space of mechanical systems. This is a first attempt in using reduction techniques for mechanical systems in the partitioning of the state space. The method relies on a combination of transversal and tangential manifolds for the conservative mechanical system. The tangential manifolds are generated using constants of motion, which can be derived from Noether's theorem. The transversal manifolds are subsequently generated on a reduced space given by the Routhian, via action-angle coordinates. The method fully applies for integrable systems. We focus on a particular aspect of abstraction – partitioning the state space, as existing methods can be applied on the discretized state space to obtain an automata-based model. The contribution of the paper is to show that well-known reduction methods can be used to generate abstract models, which can be used for formal verification.

关键词： Mechanical Systems Formal Verification Reduction Reachability Timed Automata.

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Evaporator unit as a benchmark for plug and play and fault tolerant control

Evaporator unit as a benchmark for plug and play and fault t...

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8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012

作者： Izadi-Zamanabadi, Roozbeh Vinther, Kasper Mojallali, Hamed Rasmussen, Henrik Stoustrup, Jakob Danfoss A/S Nordborgvej 81 DK-6430 Nordborg Denmark Faculty of Engineering University of Guilan P.O. Box: 41635-3756 Iran Department of Electronic Systems Section of Automation and Control Aalborg University Aalborg Denmark

ISBN: (纸本)9783902823090

This paper presents a challenging industrial benchmark for implementation of control strategies under realistic working conditions. The developed control strategies should perform in a plug & play manner, i.e. adapt to varying working conditions, optimize their performance, and provide fault tolerance. A fault tolerant strategy is needed to deal with a faulty sensor measurement of the evaporation pressure. The design and algorithmic challenges in the control of an evaporator include: unknown model parameters, large parameter variations, varying loads, and external discrete phenomena such as compressor switch on/off or abrupt change in compressor speed. © 2012 IFAC.

关键词： Fault tolerance

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Robust stability and H∞ control of uncertain piecewise linear switched systems with Filippov solutions

Robust stability and H∞ control of uncertain piecewise line...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Mohamadreza Ahmadi Hamed Mojallali Rafael Wisniewski Roozbeh Izadi-Zamanabadi Department of Electrical Engineering University of Guilan Rasht Iran Section of Automation & Control Aalborg University Denmark

ISBN: (纸本)9781467345033

This paper addresses the robust stability and control problem of uncertain piecewise linear switched systems where, instead of the conventional Carathéodory solutions, we allow for Filippov solutions. In other words, in contrast to the previous studies, solutions with infinite switching in finite time along the facets and on faces of arbitrary dimensions are also taken into account. Firstly, based on earlier results, the stability problem of piecewise linear systems with Filippov solutions is translated into a number of linear matrix inequality feasibility tests. Subsequently, a set of matrix inequalities are brought forward, which determines the asymptotic stability of the Filippov solutions of a given uncertain piecewise linear system. Afterwards, bilinear matrix inequality conditions for synthesizing a robust controller with a guaranteed H ∞ performance are formulated. Finally, a V-K iteration algorithm is proposed to surmount the aforementioned matrix inequality conditions.

关键词： Symmetric matrices Linear matrix inequalities Bismuth Asymptotic stability Stability analysis Switches

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Utilization of Excitation Signal Harmonics for control of Nonlinear Systems

Utilization of Excitation Signal Harmonics for Control of No...

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IEEE International Conference on control Applications

作者： Kasper Vinther Henrik Rasmussen Roozbeh Izadi-Zamanabadi Jakob Stoustrap Section of Automation and Control Department of Electronic Systems Aalborg University Department of Electronic Controllers and Services Danfoss A/S

ISBN: (纸本)9781467345033

Many model based control methods exist in the literature. Producing a sufficient system model can be cumbersome and a new non-model based method for control of nonlinear systems with input/output maps exhibiting sigmoid function properties is therefore proposed. The method utilizes an excitation signal together with Fourier analysis to generate a feedback signal and simulations have shown that different system gains and time constants does not change the global equilibrium/operating point. An evaporator in a refrigeration system was used as example in the simulations, however, it is anticipated that the method is applicable in a wide variety of systems satisfying the sigmoid function properties.

关键词： Nonlinear systems excitation signal feedback signal Refrigeration systems system gain Standing Orders simulating Fourier analysis Sigmoid Colon control Methods harmonics

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control Configuration Selection for Multivariable Descriptor Systems

Control Configuration Selection for Multivariable Descriptor...

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American control Conference

作者： Hamid Reza Shaker Jakob Stoustrup Institute of Energy Technology Aalborg University Denmark Section for Automation and Control Department of Electronic systems Aalborg University Denmark

ISBN: (数字)9781457710964

ISBN: (纸本)9781457710957

control configuration selection is the procedure of choosing the appropriate input and output pairs for the design of SISO (or block) controllers. This step is an important prerequisite for a successful industrial control strategy. In industrial practices it is often the case that the system, which is needed to be controlled, is either in the descriptor form or can be represented in the descriptor form. Singular systems and the differential algebraic equation (DAE) systems are among these systems. Descriptor systems appear in the variety of fields to describe the practical processes ranging from power systems, hydraulic systems to heat transfer, and chemical processes. The focus of this paper is on the problem of control configuration selection for multivariable descriptor systems. A gramian-based interaction measure for control configuration selection of such processes is described in this paper. The proposed MIMO interaction measure is the extension of its gramian-based analogous counterpart, which has been proposed for the input-output pairing as well as for the controller architecture selection of the processes with the standard state-space form. The main advantage of this interaction measure is that it can be used to propose a richer sparse or block diagonal controller structure. The interaction measure is used for control configuration selection of the linearized CSTR model with descriptor from.

关键词： Observability controllability MIMO Equations Distributed control Mathematical model Arrays

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On the Existence of Compositional Barrier Certificates

On the Existence of Compositional Barrier Certificates

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IEEE Annual Conference on Decision and control

作者： Christoffer Sloth Rafael Wisniewski George J. Pappas Department of Computer Science Aalborg University Section of Automation & Control Aalborg University Department of Electrical and Systems Engineering University of Pennsylvania

ISBN: (纸本)9781467320658

This paper provides a necessary and sufficient condition for the compositional verification of a continuous system with additively separable barrier functions. The compositional safety verification enables the verification of an inter-connection of subsystems. The idea behind the compositional analysis is to allow the verification of systems with a high dimension, by the verification of multiple lower dimensional subproblems. In the compositional safety analysis, a particular structure is imposed on the barrier certificate, restricting the applicability of the method. We show an example of a system that cannot be verified using the compositional method, but can be verified using a centralized method. This example highlights how not to decompose systems, and should be used to guide the decomposition of a system into appropriate subsystems. Finally, we provide a second condition for the compositional safety analysis that enables the verification of the counterexample, by imposing a less restrictive structure of the barrier function. This shows that the counterexample can be solved with a compositional method, but at an increased computational complexity.

关键词： Verification Safety Analysis Counter example Licence optical coherence tomography angiography device system parameter Safety Verification continuous systems complexity classes decomposition SUB-SYSTEM barrier barriers

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Evaporator unit as a benchmark for Plug and Play and fault tolerant control *

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IFAC Proceedings Volumes 2012年第20期45卷 701-706页

作者： Roozbeh Izadi-Zamanabadi Kasper Vinther Hamed Mojallali Henrik Rasmussen Jakob Stoustrup Danfoss A/S Nordborgvej 81 DK-6430 Nordborg Denmark Faculty of Engineering University of Guilan P.O. Box: 41635-3756 Iran Department of Electronic Systems Section of Automation and Control Aalborg University Aalborg Denmark

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Reconfigurability of piecewise affine systems against Actuator faults

Reconfigurability of piecewise affine systems against Actuat...

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作者： Tabatabaeipour, S. Gholami, M. Bak, T. Schiøler, H. Section of Automation and Control Aalborg University Denmark Aalborg University Denmark

ISBN: (纸本)9783902661937

In this paper, we consider the problem of reconfigurability of peicewise afine (PWA) systems. Actuator faults are considered. A system subject to a fault is considered as reconfigurable if it can be stabilized by a state feedback controller and the optimal cost of the performance of the systems is admissible. Sufficient conditions for reconfigurability are derived in terms of feasibility of a set of Linear Matrix Inequalities (LMIs). The method is implemented on a large scale livestock hybrid ventilation model which was obtained during previous research. © 2011 IFAC.

关键词： Linear matrix inequalities

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