| 1. |
- Berntorp, Karl
(författare)
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Particle Filter for Combined Wheel-Slip and Vehicle-Motion Estimation
- 2015
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Ingår i: 2015 American Control Conference (ACC). - 0743-1619 .- 2378-5861. - 9781479917730 - 9781479986842 ; , s. 5414-5419
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Konferensbidrag (refereegranskat)abstract
- The vehicle-estimation problem is approached by fusing measurements from wheel encoders, an inertial measurement unit, and (optionally) a global positioning system in a Rao-Blackwellized particle filter. In total 14 states are estimated, including key variables in active safety systems, such as longitudinal velocity, roll angle, and wheel slip for all four wheels. The method only relies on kinematic relationships. We present experimental data for one test scenario, using a Volkswagen Golf equipped with state-of-the-art sensors for determining ground truth. We report highly promising results, even for periods of combined aggressive cornering and braking.
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| 2. |
- Henningsson, Maria, et al.
(författare)
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Dynamic Mapping of Diesel Engine through System Identification
- 2010
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Ingår i: Proceedings of the 2010 American Control Conference. - 2378-5861 .- 0743-1619. - 9781424474264 - 9781424474271 ; , s. 3015-3020
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Konferensbidrag (refereegranskat)abstract
- From a control design point of view, modern diesel engines are dynamic, nonlinear, MIMO systems. This paper presents a method to find low-complexity black-box dynamic models suitable for model predictive control (MPC) of NOx and soot emissions based on on-line emissions measurements. A four-input-five-output representation of the engine is considered, with fuel injection timing, fuel injection duration, exhaust gas recirculation (EGR) and variable geometry turbo (VGT) valve positions as inputs, and indicated mean effective pressure, combustion phasing, peak pressure derivative, NOx emissions, and soot emissions as outputs. Experimental data were collected on a six-cylinder heavy-duty engine at 30 operating points. The identification procedure starts by identifying local linear models at each operating point. To reduce the number of dynamic models necessary to describe the engine dynamics, Wiener models are introduced and a clustering algorithm is proposed. A resulting set of two to five dynamic models is shown to be able to predict all outputs at all operating points with good accuracy.
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| 3. |
- Jayasiri, Awantha, et al.
(författare)
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Tracking Control and State Estimation of a Mobile Robot based on NMPC and MHE
- 2016
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Ingår i: American Control Conference. - 2378-5861.
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Konferensbidrag (refereegranskat)abstract
- This paper discusses on providing optimization-based solutions to the state estimation and tracking control problems arise in mobile robotics. Estimation problem is solved using Moving Horizon Estimation (MHE) approach and Nonlinear Model Predictive Control (NMPC) is used for solving the tracking control problem. The proposed approaches are compared against other two common techniques for state estimation and control. The methods are successfully implemented in simulation. The real time feasibility of the proposed controller is discussed.
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| 4. |
- Lewander, Magnus, et al.
(författare)
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Steady state fuel consumption optimization through feedback control of estimated cylinder individual efficiency
- 2012
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Ingår i: Proceedings of the 2012 American Control Conference. - 0743-1619 .- 2378-5861. - 9781457710957 - 9781457710964 ; , s. 4210-4214
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Konferensbidrag (refereegranskat)abstract
- Engine efficiency is often controlled in an indirectway through combustion timing control. This requires a prioriknowledge of where to phase the combustion for differentoperating points and conditions. With cylinder individual efficiencyestimation, control strategies aiming directly at fuelconsumption optimization can be developed. It has previouslybeen shown that indicated efficiency can be estimated using thecylinder pressure trace. This paper presents a method to usethe estimated efficiency as a feedback variable in an extremumseeking control strategy for online steady state fuel consumptionoptimization. The experimental results show that the controllermanages to find the maximum brake torque region at the givenoperating point both with and without external excitation.
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