| 1. |
- Greiff, Marcus, et al.
(författare)
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Attitude Control on SU(2) : Stability, Robustness, and Similarities
- 2021
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Ingår i: 2021 American Control Conference, ACC 2021. - 0743-1619. - 9781665441971 ; 2021-May, s. 1693-1699
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Konferensbidrag (refereegranskat)abstract
- This paper concerns trajectory tracking control of attitude dynamics configured on SU(2). Inspired by a popular geometric tracking controller on SO(3), differential geometric tools are used to derive both continuous and discontinuous attitude controllers on the SU(2) manifold, relating these to preexisting controllers operating with imaginary quaternion errors. Additionally, a robustness result is given for the controllers on SU(2), which is illustrated by simulation examples.
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| 2. |
- Greiff, Marcus, et al.
(författare)
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Tuning and Analysis of Geometric Tracking Controllers on SO(3)
- 2021
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Ingår i: 2021 American Control Conference, ACC 2021. - 0743-1619. - 9781665441971 ; 2021-May, s. 1674-1680
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Konferensbidrag (refereegranskat)abstract
- This paper concerns the robustness of attitude controllers for dynamics configured on the SO(3) manifold and poses a set of bilinear matrix inequalities to find an optimal controller tuning with respect to (i) the ultimate bound of the error-state trajectories when perturbed by naturally arising disturbances, and (ii) the worst-case decay rate of the tracking errors. The presented optimization problem can be solved both to generate a robust tuning for experimental applications, and also to facilitate qualitative comparisons of different attitude controllers present in the literature. To solve the tuning problem, we propose an algorithm based on alternating semidefinite programming, with local linearizations of an upper bound of the associated cost function. The soundness of this approach is illustrated by comparison to an interior-point method. The algorithm is subsequently used to provide insights for the tuning of the considered controllers, and finally demonstrated by a closed-loop simulation example.
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| 3. |
- Jorques Moreno, Carlos, et al.
(författare)
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Modular Design and Integration of In-Cycle Closed-Loop Combustion Controllers for a Wide-Range of Operating Conditions
- 2021
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Ingår i: 2021 American Control Conference, ACC 2021. - 0743-1619. - 9781665441971 ; 2021-May, s. 1875-1881
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Konferensbidrag (refereegranskat)abstract
- This paper investigates how multiple in-cycle closed-loop combustion controllers can be integrated for a seamless operation under a wide-range of operating conditions. The stochastic cyclic variations of the combustion can be successfully compensated by the adjustment of the fuel injection pulses within the same cycle. The feedback information and controllability obtained relies on the different operating conditions, emissions regulations and fuels. Various in-cycle closed-loop combustion controllers are found in the literature to overcome the numerous challenges of the combustion control. In this paper, the modularization for the controller design and their integration is investigated, and how the transition between the available information, control actions and control strategy affects the final combustion behaviour. The approach consists in the design of a finite-state machine that supervises the transition between virtual sensors and measurements, regulators and the possibility of additional fuel injections. The proposed approach was tested in a Scania D13 engine for a wide-range of operating conditions. The results confirm the improved controllability and reduced steady-state RMSE of the controlled parameters, with a smoother transition between set-points, regardless of operating conditions and fuel.
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| 4. |
- Kergus, Pauline
(författare)
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Data-driven control of infinite dimensional systems : Application to a continuous crystallizer
- 2021
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Ingår i: 2021 American Control Conference, ACC 2021. - 0743-1619. - 9781665441971 ; 2021-May, s. 1438-1443
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Konferensbidrag (refereegranskat)abstract
- Controlling infinite dimensional models remains a challenging task for many practitioners since they are not suitable for traditional control design techniques or will result in a high-order controller too complex for implementation. Therefore, the model or the controller need to be reduced to an acceptable dimension, which is time-consuming, requires some expertise and may introduce numerical error. This paper tackles the control of such a system, namely a continuous crystallizer, and compares two different data-driven strategies: the first one is a structured robust technique while the other one, called L-DDC, is based on the Loewner interpolatory framework. Model/Controller reduction, Stability of linear systems, Control applications.
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| 5. |
- Li, Yang, 1984, et al.
(författare)
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A PDE Model Simplification Framework for All-Solid-State Batteries
- 2022
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Ingår i: American Control Conference. - 0743-1619. ; 2022-June, s. 1775-1781
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Konferensbidrag (refereegranskat)abstract
- All-solid-state batteries (ASSBs) have attracted immense attention due to their superior thermal stability, improved power and energy densities, and prolonged cycle life. Their practical applications require accurate and computationally efficient models for the design and implementation of many onboard management algorithms, so that the safety, health, and cycling performance of ASSBs can be optimized under a wide range of operating conditions. A control-oriented modeling framework is thus established in this work by systematically simplifying a partial differential equation (PDE) based model of the ASSBs developed from underlying electrochemical principles. Compared to the original PDE model, the reduced-order models obtained with the proposed framework demonstrates high fidelity at significantly improved computational efficiency.
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| 6. |
- Martins, Alexandre, et al.
(författare)
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Dynamic Management of Multiple Resources in Camera Surveillance Systems*
- 2021
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Ingår i: 2021 American Control Conference, ACC 2021. - 0743-1619. - 9781665441971 - 9781728197043 ; 2021-May, s. 2061-2068
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Konferensbidrag (refereegranskat)abstract
- Distributed camera surveillance systems typically consist of multiple cameras that need to store some fraction of their video streams in a central storage node. The disk space of this node as well as the network between the cameras and this central node constitute shared resources. In the paper the disk space allocation as well as the network bandwidth reservation are solved using techniques normally associated with process control. These include mid-range control and tracking-based control of global shared resources. The approach is evaluated by simulations.
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| 7. |
- Molina Acosta, Angel, 1990, et al.
(författare)
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Modelling and Control of Test-Scenarios for Validation of Autonomous Driving Functions
- 2021
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Ingår i: American Control Conference. - 0743-1619. ; 2021-May, s. 2943-2948
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Konferensbidrag (refereegranskat)abstract
- This paper presents a modelling and control framework for the coordination of leader-follower, multi-agent mobile systems, where the followers have to coordinate with a leading agent that is externally controlled. The problem setting is motivated by an experimental validation problem for a passenger vehicle (the leader), which has to be exposed to a traffic scenario by controlling a number of mobile test-targets (the followers) resembling the surrounding road users. The proposed control approach, which builds on reachability analysis and predictive control, allows to control the followers through the stages of the scenario, while satisfying the constraints imposed by the physical limitations of the followers, provided that the motion of the leader complies with certain bounds. Simulation results illustrate the proposed framework.
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| 8. |
- Moreno, Carlos Jorques, et al.
(författare)
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Bayesian Method for Fuel Mass Estimation of Short Pilot Injections based on its Misfire Probability
- 2020
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Ingår i: 2020 American Control Conference, ACC 2020. - 0743-1619. - 9781538682661 ; 2020-July, s. 1507-1513
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Konferensbidrag (refereegranskat)abstract
- A fuel mass estimation method for short pilot diesel injections is proposed and analyzed in this article. Previous studies showed that the pilot misfire ratio was more strongly correlated with the fuel mass than the on-time. This characteristic is exploited for the fuel mass estimation in a region where it is otherwise challenging to get good estimation accuracy due to the low signal-to-noise ratio, such as by rail pressure measurements or in-cylinder pressure for heat release estimation. The suggested method uses a Bayesian approach where the calibrated injectors, the pilot misfire ratio and the misfire detection are stochastically modelled. The effect of the different model parameters and dispersion on the estimator properties are analyzed. Experimental results in a Scania D13 Diesel engine confirm the improvement in the pilot mass estimation, for the regions within the transition from full misfire to full combustion. In this region, a 60% reduction in the estimation error was obtained, from 0.66mg to 0.27mg standard deviation.
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| 9. |
- Wang, Jie, et al.
(författare)
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SparseJSR: A fast algorithm to compute joint spectral radius via sparse SOS decompositions
- 2021
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Ingår i: 2021 American Control Conference, ACC 2021. - 0743-1619. - 9781665441971 ; 2021-May, s. 2254-2259
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Konferensbidrag (refereegranskat)abstract
- This paper focuses on the computation of the joint spectral radius (JSR), when the involved matrices are sparse. We provide a sparse variant of the procedure proposed by Parrilo and Jadbabaie to compute upper bounds of the JSR by means of sum-of-squares (SOS) programming. Our resulting iterative algorithm, called SparseJSR, is based on the term sparsity SOS (TSSOS) framework developed by Wang, Magron and Lasserre, which yields SOS decompositions of polynomials with arbitrary sparse supports. SparseJSR exploits the sparsity of the input matrices to significantly reduce the computational burden associated with the JSR computation. Our algorithmic framework is then successfully applied to compute upper bounds for JSR on randomly generated benchmarks as well as on problems arising from stability proofs of controllers, in relation with possible hardware and software faults.
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