The INOVE ANR 2010 Blan 0308 project: Integrated approach for observation and control of vehicle dynamics

International audienceThis paper presents the INOVE "Integrated approach for observation and control of vehicle dynamics" project. The aim and organization of the project are described and we present some recent results on the proposed integrated approach to design new methodologies for the improvement of the vehicle dynamical behaviour

A motion-scheduled LPV control of full car vertical dynamics

International audienceIn this paper, we present a new Linear Parameter Varying LPV/H ∞ motion adaptive suspension controller that takes into account the three main motions of the vehicle vertical dynamics: bounce, roll and pitch motions. The new approach aims, by using a detection of the vehicle motions, at designing a controller which is able to adapt the suspension forces in the four corners of the vehicle according to the dynamical motions, in order to mitigate these vertical dynamics which could be stimulated by the road-induced vibrations, making a tight turn or an evasive manoeuvre, braking or accelerating. The main idea of this strategy is to use three scheduling parameters, representative of the motion distribution in the car dynamics, to adapt and distribute efficiently the suspension actuators. The motion detection strategy is based on the supervison of load transfer distribution. A full 7 degree of freedom (DOF) vertical model is used to describe the body motion (chassis and wheels), and to synthesize the LPV controller. The controller solution is derived in the framework of the LPV/H ∞ and based on the LMI solution for polytopic systems. Some simulations are presented in order to demonstrate the effectiveness of this approach

LPV/H ∞ suspension robust control adaption of the dynamical lateral load transfers based on a differential algebraic estimation approach

version soumise de 8 pagesInternational audienceThis paper is concerned with a new global chassis strategy combining the LPV/H ∞ control framework and the differential algebraic estimation approach. The main objective is to enhance the vehicle performances by adapting its control to the dynamical lateral load transfers using a very efficient algebraic dynamical behaviour estimation strategy. Indeed, the lateral load transfers influence considerably the vehicle dynamical behaviour, stability and safety especially in dangerous driving situations. It is important to emphasize that the dynamical load transfers are different from the static ones generated mainly by the bank of the road. The computation of these dynamics must be based on the effective lateral acceleration and roll behaviour of the car. Such effective data cannot be given directly by the hardware sensors (which give correlated measures). The information on the real dynamical lateral load transfers is very important to ensure a good adaptation of the vehicle control and performances to the considered driving situation. A very interesting differential algebraic estimation approach allows to provide the effective needed measures for the control strategy using only sensors available on most of commercial cars. It is based on the differential flatness property of nonlinear systems in an algebraic context. Then, thanks to this estimation approach, the dynamical lateral load transfers can be calculated and used to adapt the vertical performances of the vehicle using the LPV/H ∞ for suspension systems control. Simulations performed on non linear vehicle models with data collected on a real car are used to validate the proposed estimation and control approaches. Results show the efficiency of this vehicle control strategy

LPV observer and control design methods for vehicle dynamics

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LPV methods for fault-tolerant vehicle dynamic control

International audienceThis paper aims at presenting the interest of the Linear Parameter Varying methods for vehicle dynamics control, in particular when some actuators may be in failure. The cases of the semi-active suspension control problem and the yaw control using braking, steering and suspension actuators will be presented. In the first part, we will consider the semi-active suspension control problem, where some sensors or actuator (damper leakage) faults are considered. From a quarter-car vehicle model including a non linear semi-active damper model, an LPV model will be described, accounting for some actuator fault represented as some varying parameters. A single LPV fault-tolerant control approach is then developed to manage the system performances and constraints. In the second part the synthesis of a robust gain-scheduled H1 MIMO vehicle dynamic stability controller (VDSC), involving front steering, rear braking, and four active suspension actuators, is proposed to improve the yaw stability and lateral performances. An original LPV method for actuator coordination is proposed, when the actuator limitations and eventually failures, are taken into account. Some simulations on a complex full vehicle model (which has been validated on a real car), subject to critical driving situations (in particular a loss of some actuator), show the efficiency and robustness of the proposed solution

Systematization of integrated motion control of ground vehicles

This paper gives an extended analysis of automotive control systems as components of the integrated motion control (IMC). The cooperation of various chassis and powertrain systems is discussed from a viewpoint of improvement of vehicle performance in relation to longitudinal, lateral, and vertical motion dynamics. The classification of IMC systems is proposed. Particular attention is placed on the architecture and methods of subsystems integration

비대칭 가변스팬 모핑 무인 항공기의 자체스케줄 파라미터 가변 제어

학위논문(박사) -- 서울대학교대학원 : 공과대학 기계항공공학부, 2023. 2. 김유단.In this dissertation, a novel framework for flight control of a morphing unmanned aerial vehicle (UAV) is proposed. The proposed method uses asymmetric span morphing for lateral-directional motion control considering the dynamic characteristics of the morphing actuators while exploiting the advantages of symmetric span morphing for longitudinal flight performance enhancement. The proposed control system is self-scheduled based on linear parameter-varying (LPV) methods, which guarantees stability and performance for the variations of the morphing configuration and the flight condition. Therefore, the morphing UAV is allowed to swiftly metamorphose into the optimal configuration to maximize the system-level benefit according to the maneuvering command and the flight condition. First, a high-fidelity nonlinear model of an asymmetric variable-span morphing UAV is obtained from the NASA generic transport model. The impacts of morphing on the center of mass, inertia matrix, and aerodynamic coefficients are modeled based on the asymmetrically damaged wing model. The span variation ratios of the left and right wings are decomposed into symmetric and asymmetric morphing parameters, which are considered as the scheduling parameter and the control input, respectively. The nonlinear model is decoupled and linearized to obtain point-wise linear time-invariant (LTI) models for the longitudinal and lateral-directional motions throughout the grid points over the entire rectangularized scheduling parameter domain. The LPV model of the morphing UAV is derived for the longitudinal and lateral-directional motions by associating the family of LTI models through interpolation. Second, the longitudinal and lateral-directional control augmentation systems are designed based on LPV methods to track the normal acceleration command and the angle of sideslip and the roll rate commands, respectively. The inherent dynamic characteristics of the morphing actuator, such as low bandwidth, are considered in the control design procedure through a frequency-dependent weighting filter. The span morphing strategy to assist the intended maneuver is studied considering the impacts of morphing on various aspects. Numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme for pushover-pullup maneuver and high-g turn. Finally, the longitudinal and lateral-directional autopilots are designed based on LPV methods to track the airspeed and altitude commands and the angle of sideslip and roll angle commands, respectively. A nonlinear guidance law is coupled with the autopilots to enable three-dimensional trajectory tracking. Numerical simulation results for the trajectory-tracking flight show that the proposed controller shows satisfactory performance, while the closed-loop system using the conventional gain-scheduled controller may lose stability when the scheduling parameter varies rapidly or widely.본 논문에서는 모핑 무인 항공기(unmanned aerial vehicle: UAV)의 비행 제어를 위한 새로운 프레임워크가 제안된다. 제안된 기법은 모핑 구동기의 동적 특성을 고려한 횡방향축(lateral-directional) 운동 제어를 위해 비대칭 스팬 모핑을 사용하고 종축(longitudinal) 비행 성능 향상을 위해 대칭 스팬 모핑의 이점을 활용한다. 또한 설계된 제어 시스템은 선형 파라미터 가변(linear parameter-varying: LPV) 기법을 기반으로 제어기 이득이 자체적으로 스케줄링 되며 모핑 형상 및 비행 조건의 임의의 변화에 대해 안정성과 성능을 엄밀하게 보장한다. 따라서 모핑 UAV는 기동 명령과 비행 조건에 따라 안정성을 상실할 우려 없이 시스템 수준의 이점을 극대화하는 동시에 내부 루프 안정화를 위한 제어에 기여하도록 최적의 형상으로 신속하게 변형될 수 있다. 첫째, NASA GTM(generic transport model)으로부터 비대칭 가변 스팬 모핑 UAV의 고충실도(high-fidelity) 비선형 모델이 획득된다. 모핑이 질량 중심, 관성 행렬 및 공기역학 계수에 미치는 영향은 날개가 비대칭적으로 손상된 모델을 기반으로 도출된다. 좌우 날개의 스팬 변화율은 대칭 및 비대칭 모핑 파라미터로 분해되며, 두 모핑 파라미터는 각각 스케줄링 파라미터 및 제어 입력으로 간주된다. 비선형 모델을 종축 및 횡방향축 운동으로 분리하고 직사각형 형태의 스케줄링 파라미터 영역의 각 격자점에서 선형화함으로써 각 점에 대한 선형 시불변(linear time-invariant: LTI) 모델이 얻어진다. LTI 모델 집합에 보간(interpolation)을 적용하면 종축 및 횡방향축 운동에 대한 모핑 UAV의 LPV 모델이 얻어진다. 둘째, 수직 가속도(normal acceleration) 명령과 옆미끄럼각(angle of sideslip) 및 롤 각속도 명령 추종을 위해 LPV 기법을 기반으로 종축 및 횡방향축 제어 증강 시스템(control augmentation system)이 설계된다. 이때, 제어 설계 과정에서 주파수종속(frequency-dependent) 가중치 필터를 통해 낮은 대역폭(bandwidth)과 같은 모핑 구동기 고유의 동적 특성이 고려된다. 또한 비행 특성에 대한 모핑의 다양한 영향을 고려하여 실행하고자 하는 기동을 보조하기 위한 스팬 모핑 전략이 논의된다. Pushover-pullup 기동 및 high-g turn에 대한 수치 시뮬레이션 결과를 통해 제안된 기법이 타당함을 확인할 수 있다. 마지막으로, 대기속도(airspeed) 및 고도 명령과 옆미끄럼각 및 롤 각 명령을 추종하기 위해 LPV 기법을 기반으로 종축 및 횡방향축 자동 조종 장치(autopilot)가 설계된다. 이때, 3차원 경로 추종을 위해 비선형 유도 법칙이 자동 조종 장치와 결합된다. 경로 추종 비행에 대한 수치 시뮬레이션 결과를 통해 스케줄링 파라미터의 변화 속도가 빠르거나 변화의 폭이 넓은 경우 일반적인 이득스케줄 제어기는 안정성을 상실할 수 있는 반면 제안된 기법은 만족할 만한 성능을 유지함을 확인할 수 있다.1 Introduction 1 1.1 Background and Motivation 1 1.2 Literature Review 6 1.2.1 Fixed-Wing Aircraft Implementing Morphing Technologies 6 1.2.2 Flight Control of Morphing Aircraft 7 1.2.3 Gain Scheduling Approaches to Controller Design 7 1.3 Objectives and Contributions 9 1.3.1 Objectives 9 1.3.2 Contributions 9 1.4 Dissertation Outline 11 2 Mathematical Preliminaries 13 2.1 LPV Systems 15 2.1.1 Taxonomy of Dynamical Systems 15 2.1.2 Definition of LPV Systems 15 2.1.3 LPV Modeling by Linearization 20 2.2 Gain Self-Scheduled Induced L2-Norm Control of LPV Systems 25 2.2.1 Norms of Signals and Systems 25 2.2.2 Analysis of LPV Systems 26 2.2.3 LPV Controller Design 30 2.2.4 Software for Synthesis and Analysis 30 3 Asymmetric Variable-Span Morphing UAV Model 33 3.1 Nonlinear Model of a Morphing UAV 36 3.1.1 Nominal Model of a Baseline Model 36 3.1.2 Morphing UAV Model 41 3.2 Derivation of an LPV Model of a Morphing UAV 52 3.2.1 Trim Analysis and Scheduling Parameter Selection 52 3.2.2 Pointwise Linearization of a Nonlinear Model 55 3.2.3 Linear Parameter-Varying Modeling and Analysis 58 4 CAS Design Based on LPV Method for Morphing-Assisted Maneuvers 61 4.1 Longitudinal CAS Design for Normal Acceleration Control 65 4.1.1 Performance Specifications 65 4.1.2 Controller Synthesis and Analysis 68 4.2 Lateral-Directional CAS Design for Turn Coordination and Roll Rate Control 73 4.2.1 Performance Specifications 73 4.2.2 Controller Synthesis and Analysis 75 4.3 Span Morphing Strategy 83 4.3.1 Effects of Span Morphing 83 4.3.2 Criteria for Span Variation 85 4.4 Nonlinear Simulation of Morphing-Assisted Maneuvers 86 4.4.1 High-Fidelity Flight Dynamics Simulator 86 4.4.2 Push-over and Pull-up 86 4.4.3 High-g Turn 89 5 Autopilot Design Based on LPV Methods for Morphing-Assisted Flights 109 5.1 Longitudinal Autopilot Design for Airspeed and Altitude Control 111 5.1.1 Performance Specifications 111 5.1.2 Controller Synthesis and Analysis 113 5.2 Lateral-Directional Autopilot Design for Turn Coordination and Roll Angle Control 121 5.2.1 Performance Specifications 121 5.2.2 Controller Synthesis and Analysis 123 5.3 Nonlinear Guidance Law for Trajectory Tracking 131 5.4 Nonlinear Simulation of Morphing-Assisted Flights 132 5.4.1 Waypoint Following at Low Altitude 132 5.4.2 Circular Trajectory Tracking at High Altitude 132 5.4.3 Helical Ascent under Fast Morphing 132 5.4.4 Spiral Descent with Morphing Scheduling 139 6 Conclusion 147 6.1 Concluding Remarks 147 6.2 Future Work 148박

Feasible, Robust and Reliable Automation and Control for Autonomous Systems

The Special Issue book focuses on highlighting current research and developments in the automation and control field for autonomous systems as well as showcasing state-of-the-art control strategy approaches for autonomous platforms. The book is co-edited by distinguished international control system experts currently based in Sweden, the United States of America, and the United Kingdom, with contributions from reputable researchers from China, Austria, France, the United States of America, Poland, and Hungary, among many others. The editors believe the ten articles published within this Special Issue will be highly appealing to control-systems-related researchers in applications typified in the fields of ground, aerial, maritime vehicles, and robotics as well as industrial audiences

Advances and Trends in Mathematical Modelling, Control and Identification of Vibrating Systems

This book introduces novel results on mathematical modelling, parameter identification, and automatic control for a wide range of applications of mechanical, electric, and mechatronic systems, where undesirable oscillations or vibrations are manifested. The six chapters of the book written by experts from international scientific community cover a wide range of interesting research topics related to: algebraic identification of rotordynamic parameters in rotor-bearing system using finite element models; model predictive control for active automotive suspension systems by means of hydraulic actuators; model-free data-driven-based control for a Voltage Source Converter-based Static Synchronous Compensator to improve the dynamic power grid performance under transient scenarios; an exact elasto-dynamics theory for bending vibrations for a class of flexible structures; motion profile tracking control and vibrating disturbance suppression for quadrotor aerial vehicles using artificial neural networks and particle swarm optimization; and multiple adaptive controllers based on B-Spline artificial neural networks for regulation and attenuation of low frequency oscillations for large-scale power systems. The book is addressed for both academic and industrial researchers and practitioners, as well as for postgraduate and undergraduate engineering students and other experts in a wide variety of disciplines seeking to know more about the advances and trends in mathematical modelling, control and identification of engineering systems in which undesirable oscillations or vibrations could be presented during their operation