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ABSTRACT: The problem of detecting actuator and sensor faults of a robot manipulator using a model-based Fault Detection (FD) technique is addressed. With the proposed FD scheme it is possible to detect a single fault, which can occur on a specific actuator or on a specific sensor. The proposed scheme is composed by an Unknown Input Observer (UIO) and a modified Generalized Observer Scheme (GOS) to make analytical redundancy. The first enables the actuators FD, while the second enables the FD on the sensors. The Sub-Optimal Second Order Sliding Mode Control (SOSMC) approach is exploited to determine the input laws of the observers. The proposed approach is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator.
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on; 01/2009
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ABSTRACT: This paper presents a model-based fault detection (FD) and isolation scheme for rigid manipulators. A single fault acting on a specific actuator or on a specific sensor of the manipulator is detected (and, if possible, the exact location of the fault), and an estimation of the fault signal is performed. Input-signal estimator and output observers are considered in order to make the FD procedure possible. By using the suboptimal second-order sliding-mode (SOSM) algorithm to design the input laws of the observers, satisfactory stability properties of the observation error are established. The proposed algorithm is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator.
IEEE Transactions on Industrial Electronics 12/2008; · 5.16 Impact Factor
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ABSTRACT: A simple model based fault detection (FD) scheme suitable for robot manipulators is presented. The purpose is to detect and, possibly, identify a single fault acting on a specific input or on a specific output of the manipulator. Input signal estimators and output observers are considered in order to make the fault detection possible. By adopting a second order sliding mode (SOSM) approach to design the input laws of the observers, it is possible to establish satisfactory stability properties of the observation error, and reduce the chattering effect. The proposed approach is experimentally tested on a COMAU SMART3-S2 manipulator.
Variable Structure Systems, 2008. VSS '08. International Workshop on; 07/2008
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ABSTRACT: The classical attitude control problem for a rigid body is revisited under the assumption that measurements of the angular rates obtained by means of rate gyros are corrupted by harmonic disturbances, a setup of importance in several aerospace applications. This note extends previous methods developed to compensate bias in angular rate measurements by accounting for a more general class of disturbances, and by allowing uncertainty in the inertial parameters. By resorting to adaptive observers designed on the basis of the internal model principle, it is shown how converging estimates of the angular velocity can be used effectively in a passivity-based controller yielding global convergence within the chosen parametrization of the group of rotations. Since a persistence of excitation condition is not required for the convergence of the state estimates, only an upper bound on the number of distinct harmonic components of the disturbance is needed for the applicability of the method.
IEEE Transactions on Automatic Control 01/2008; · 2.11 Impact Factor
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ABSTRACT: This paper deals with the design and validation, through simulation in a Matlab/Simulink environment, of a high-level model-based diagnostic algorithm for an automotive electric-power generation storage system (EPGS). The EPGS includes and alternator with rectifier, a battery and a voltage regulator. Mathematical models of these subsystems, based on the physics of the processes involved, consist of time-varying nonlinear ODEs. The diagnostic problem is approached in hierarchical fashion, and this paper focuses on a high-level (supervisory) diagnosis aimed at distinguishing between faults in the alternator and battery subsystems. The proposed diagnostic approach is based on the generation of residuals using system models and through comparison of the predicted and measured value of selected variables, including alternator output current, field voltage, battery current, battery voltage and engine speed. This paper outlines the development of a high-level model of the EPGS system, a high-level diagnostic algorithm and simulation results.
American Control Conference, 2007. ACC '07; 08/2007
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ABSTRACT: Hybrid electric vehicles (HEVs) improvements in fuel economy and emissions strongly depend on the energy management strategy. The parallel HEV control problem involves the determination of the time profiles of the power flows from the engine and the electric motor. This is also referred to as the power split between the conventional and the electric sources. The objective of HEV control is in fact to find out the sequence of optimal power splits at each instant of time that minimizes the fuel consumption over a given driving schedule. Big obstacles to the control design are the model complexity and the necessity of "a priori" knowledge of torque and velocity profiles. This paper presents three different energy management approaches for the control of a parallel hybrid electric sport-utility-vehicle that do not require a priori knowledge of the driving cycle. The considered approaches are: a rule-based control, an adaptive equivalent fuel consumption minimization strategy (A-ECMS), and the H<sub>infin</sub> control. Results, compared with the optimal solution given by the dynamic programming, show that the A-ECMS strategy is the best performing strategy
IEEE Transactions on Control Systems Technology 06/2007; · 1.77 Impact Factor
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ABSTRACT: We consider the problem of asymptotic stabilization of nonlinear systems by output feedback, in the case in which the measured output is corrupted by additive harmonic noise. We restrict our attention to systems which are passive with respect to the measured output, and the sensor disturbance has a finite discrete spectrum. A simple condition for zero-state detectability of passive partially linear systems is derived, and the result is employed to analyze the loop interconnection resulting from the application of internal model-based controllers to the perturbed plant. The analysis applies directly to the problem of stabilizing the angular velocity and/ or regulating the attitude of a rigid body using noisy angular rate measurements. The proposed controllers have a simple structure that exploit the passivity property of both the internal model and the plant. Simulation results show the effectiveness of the design
American Control Conference, 2006; 07/2006
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ABSTRACT: Control strategies for hybrid-electric vehicles generally target several simultaneous objectives. The primary one is the minimization of the vehicle fuel consumption, while also attempting to minimize emissions and to maintain or enhance drivability. Hybrid electric vehicle improvements in fuel economy and emissions strongly depend on the energy management strategy and vehicle powertrain configuration. This paper presents an overview of state-of-the-art energy management approaches for the control of different hybrid electric powertrain configurations.
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on; 01/2006
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ABSTRACT: Regardless of the topology of the hybrid electric vehicle, the essence of the HEV control problem is the instantaneous management of the power flows from the various energy storage devices to achieve the overall control objectives. In this paper we consider the case of energy management for a series hybrid powertrain configuration with two energy storage systems, i.e. batteries and ultracapacitors. The proposed power split algorithm is based on a modified instantaneous equivalent consumption minimization strategy (ECMS). The methodology could easily be applied to any kind of powertrain subject to the charge-sustaining constraint, and can readily be adapted to the specific characteristics of the components used in the powertrain.
Vehicle Power and Propulsion, 2005 IEEE Conference; 10/2005
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ABSTRACT: The aim of this paper is to propose a robust approach to the development of supervisory control strategies for hybrid-electric drivetrains. The objective is to determine an output feedback controller that minimizes fuel consumption with respect to a family of possible torque/power input profiles, e.g. urban driving cycles. A quasi-static energy model for the hybrid vehicle, based on a Willans lines model of the IC engine and electric motor, is derived. A linear fractional representation (LFR) of the system is then obtained where the model is described by a "nominal" linear time-invariant (LTI) system connected to an uncertainty block. Finally, the controller is derived and some simulations for a parallel hybrid architecture are included.
Decision and Control, 2004. CDC. 43rd IEEE Conference on; 01/2005
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ABSTRACT: In this paper, a minimum sensor variable structure control strategy for cruise and tracking longitudinal control of vehicles has been proposed. It relies on the generation of "second-order" sliding regimes, i.e., sliding modes characterized by an identically derivative of the sliding variable. Because of the lack of measurements, the use of suitably designed observers is exploited in the paper. On the whole, the proposed strategy is designed so as to guarantee a bounded jerk and to avoid too frequent changes between the use of the accelerator and the brake. The control strategy is robust with respect to matched bounded parameters variations, and uncertainties.
IEEE Transactions on Intelligent Transportation Systems 04/2004; · 3.45 Impact Factor
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ABSTRACT: The aim of this paper is to propose a robust approach to the development of supervisory control strategies for hybrid-electric drivetrains. The objective is to determine an output feedback controller that minimize fuel consumption with respect to a family of possible torque/power input profiles, e.g. urban driving cycles. A quasi-static energy model for the hybrid vehicle, based on a Willans lines model of the IC engine and electric motor, is derived. Sufficient conditions for the existence of a robust controller satisfying stability, L<sub>2</sub> gain attenuation between inputs and outputs of interest, and input/output bound constraints are derived by means of a set of linear matrix inequalities (LMIs).
American Control Conference, 2003. Proceedings of the 2003; 07/2003
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ABSTRACT: One of the main problems in induction motor (IM) control is the lack of knowledge about the actual value of the rotor resistance, which is subjected to large variations during operation. Due to the unavailability of the rotor electrical quantities, it is not easy to define an error signal suitable to be used as "engine" for the identification mechanism. We propose two adaptive/variable-structure identifiers based on different standing assumptions, both providing an exponentially convergent estimate of the rotor resistance. The high simplicity of the overall schemes, and the low dimension of the regressor vectors (which leads to mild persistence-of-excitation requirements) constitute the main positive features of the proposed approach. Simulation results are provided.
IEEE Transactions on Automatic Control 03/2003; · 2.11 Impact Factor
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ABSTRACT: One of the main problems in induction motor (IM) control is the lack of knowledge about the actual value of the rotor resistance, which is often uncertain and subjected to variations during operation. Due to the unavailability of the rotor electrical quantities, it is not easy to define an output-error suitable to be used as "engine" for an identification mechanism. In the paper, two adaptive/variable-structure identifiers, based on different standing assumptions, are proposed. The high simplicity of the auxiliary system to implement and the low dimension of the associated regressors (to which correspond mild PE requirements) constitute the main novelty, and positive feature, of the proposed approach. Simulations results are provided at the end of the paper.
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on; 01/2003
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ABSTRACT: In this paper a simple variable structure control strategy for
cruise and tracking control of vehicles is proposed. It differs from
previous proposals appeared in the literature by virtue of its
capability of enforcing “second order” sliding regimes,
i.e., sliding modes characterized by an identically null derivative of
sliding variable. In spite of its variable structure nature, the
proposed strategy is designed so as to guarantee a bounded jerk and to
avoid too frequent changes between the use of the accelerator and the
brake. The control strategy is robust to parameters variations and
uncertainties. Simulations results show that it guarantees that a
comfortable motion is attained
American Control Conference, 2000. Proceedings of the 2000; 10/2000
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ABSTRACT: In this paper a variable structure control strategy for cruise and
tracking control of vehicles is proposed. It is characterized by the
generation of “second order” sliding regimes, i.e., sliding
modes characterized by an identically null derivative of sliding
variable. Due to the lack of measurements, the use of observer is
suitably exploited in the paper. On the whole, in spite of its variable
structure nature, the proposed strategy is designed so as to guarantee a
bounded jerk and to avoid too frequent changes between the use of the
accelerator and the brake. The control strategy is robust to parameters
variations and uncertainties
Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE; 02/2000
