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- Bengtsson, Johan, et al.
(author)
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Modeling of Driver's Longitudinal Behavior
- 2003
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In: Nonlinear and Hybrid Systems in Automotive Control. - 076801137X ; , s. 41-58
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Book chapter (other academic/artistic)abstract
- In the last years, many vehicle manufacturers have introduced advancedriver support in some of their automobiles. One of those new featuresis Adaptive Cruise Control (ACC), which extends the conventionalcruise control system to control of relative speed and distance toother vehicles. In order to design an ACC controller it is suitable tohave a model on drivers' behavior. Our approach to find dynamicalmodels of the drivers' behavior was to use system identification.Basic data analysis was made by means of system identificationmethodology, and several models of drivers' longitudinal behavior areproposed, including both linear regression models and subspace basedmodels. Detection when a driver is changing his behavior in varioussituations to a deviant behavior is useful. To that purpose a GARCHmodel was used to model the driver in arousal situations, where thedriver changes behavior, is proposed.
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| 6. |
- Alcocer, Alex, et al.
(author)
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Force Estimation and Control in Robot Manipulators
- 2004
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In: Robot control 2003 : A proceeding volume from the 7th IFAC Symposium Wroclaw, Poland, 1-3 September 2003 - A proceeding volume from the 7th IFAC Symposium Wroclaw, Poland, 1-3 September 2003. - 0080440096 ; 1, s. 31-36
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Conference paper (peer-reviewed)abstract
- In this paper we present some results on model based force estimationand how these estimates can be integrated in a common robot force controlscheme. A generalization of the force estimation method proposed inHacksel and Salcudean (1994) is done and a force observerable to follow ramp environmental forces is introduced. Anextension of this method for robotic manipulators is also experimentallyverified for an industrial robot with an open control systemarchitecture during a force control task.
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| 7. |
- Alcocer, Alex, et al.
(author)
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Force Estimation and Control in Robot Manipulators
- 2003
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In: IFAC Proceedings Volumes. ; 36, s. 55-60
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Conference paper (peer-reviewed)abstract
- In this paper we present some results on model based force estimation and how these estimates can be integrated in a common robot force control scheme. A generalization of the force estimation method proposed in [Hacksel and Salcudean, 1994] is done and a force observer able to follow ramp environmental forces is introduced. An extension of this method for robotic manipulators is also experimentally verified using an industrial robot with an open control system architecture during a force control task.
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| 8. |
- Andersson, Alina, et al.
(author)
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Analytic Parameterization of Stabilizing Controllers for the Surge Subsystem of the Moore-Greitzer Compressor Model
- 2013
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In: Proc. 2013 American Control Conference (ACC2013). - 0743-1619. - 9781479901777 ; , s. 5257-5262
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Conference paper (peer-reviewed)abstract
- This paper is based on a new procedure for dynamic output feedback design for systems with nonlinearities satisfying quadratic constraints. The new procedure is motivated by the challenges of output feedback control design for the 3-state Moore-Greitzer compressor model. First, we use conditions for stability of a transformed system and the associated matching conditions to find the data of the stabilizing controllers for the surge subsystem. Second, using the set of stabilizing controllers satisfying the given constraints for the closed-loop system with the dynamic output feedback controller we made optimization over the parameter set. We present the data of the stabilizing controllers and the new constraints for the corresponding parameters. The contributions in this paper are simplified conditions for the synthesis and optimization over the control parameter set.
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| 9. |
- Andersson, Alina, et al.
(author)
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Robustness of the Moore-Greitzer Compressor Model's Surge Subsystem with New Dynamic Output Feedback Controllers
- 2014. - 3
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In: 19th IFAC World Congress. - : Elsevier. - 2405-8963. - 9783902823625 ; 47, s. 3690-3695
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Conference paper (peer-reviewed)abstract
- This work presents an extension of a design procedure for dynamic output feedback design for systems with nonlinearities satisfying quadratic constraints. In this work we used an axial gas compressor model described by the 3-state Moore-Greitzer compressor model (MG) that has some challenges for output feedback control design (Planovsky and Nikolaev 1990), (Rubanova 2013). The more general constraints for the investigation of the robustness with respect to parametric uncertainties and measurement noise are shown.
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| 10. |
- Andersson, Alina, et al.
(author)
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Sufficient Conditions for Dynamic Stabilization of 3-State Moore-Greitzer Compressor Model
- 2015
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In: 2015 IEEE 54th Annual Conference on Decision and Control (CDC). - 9781479978861 - 9781479978847 ; , s. 4394-4399
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Conference paper (peer-reviewed)abstract
- We consider the classical 3-state Moore-Greitzer model, which is commonly used for approximating dynamics of deviations of flow and pressure variables in an axial compressor from their nominal steady-state values. The linearization of the nonlinear system is not controllable and, therefore, even local asymptotic stability cannot be achieved using methods of linear control theory. We propose a family of parametrized partialstate feedback control laws and derive sufficient conditions to guarantee global asymptotic stability of the closed-loop system. The stability analysis uses the integral quadratic constraints technique for the case of non-strict frequency condition and novel arguments for characterization of omega-limit sets.
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