EASILY VERIFIABLE CONTROLLER DESIGN WITH APPLICATION TO AUTOMOTIVE POWERTRAINS

Bridging the gap between designed and implemented model-based controllers is a major challenge in the design cycle of industrial controllers. This gap is mainly created due to (i) digital implementation of controller software that introduces sampling and quantization imprecisions via analog-to-digital conversion (ADC), and (ii) uncertainties in the modeled plant’s dynamics, which directly propagate through the controller structure. The failure to identify and handle these implementation and model uncertainties results in undesirable controller performance and costly iterative loops for completing the controller verification and validation (V&V) process. This PhD dissertation develops a novel theoretical framework to design controllers that are robust to implementation imprecision and uncertainties within the models. The proposed control framework is generic and applicable to a wide range of nonlinear control systems. The final outcome from this study is an uncertainty/imprecisions adaptive, easily verifiable, and robust control theory framework that minimizes V&V iterations in the design of complex nonlinear control systems. The concept of sliding mode controls (SMC) is used in this study as the baseline to construct an easily verifiable model-based controller design framework. SMC is a robust and computationally efficient controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. The SMC structure allows for further modification to improve the controller robustness against implementation imprecisions, and compensate for the uncertainties within the plant model. First, the conventional continuous-time SMC design is improved by: (i) developing a reduced-order controller based on a novel model order reduction technique. The reduced order SMC shows better performance, since it uses a balanced realization form of the plant model and reduces the destructive internal interaction among different states of the system. (ii) developing an uncertainty-adaptive SMC with improved robustness against implementation imprecisions. Second, the continuous-time SMC design is converted to a discrete-time SMC (DSMC). The baseline first order DSMC structure is improved by: (i) inclusion of the ADC imprecisions knowledge via a generic sampling and quantization uncertainty prediction mechanism which enables higher robustness against implementation imprecisions, (ii) deriving the adaptation laws via a Lyapunov stability analysis to overcome uncertainties within the plant model, and (iii) developing a second order adaptive DSMC with predicted ADC imprecisions, which provides faster and more robust performance under modeling and implementation imprecisions, in comparison with the first order DSMC. The developed control theories from this PhD dissertation have been evaluated in real-time for two automotive powertrain case studies, including highly nonlinear combustion engine, and linear DC motor control problems. Moreover, the DSMC with predicted ADC imprecisions is experimentally tested and verified on an electronic air throttle body testbed for model-based position tracking purpose

Robust contact force controller for slip prevention in a robotic gripper

Grasping a soft or fragile object requires the use of minimum contact force to prevent damage or deformation. Without precise knowledge of object parameters, real-time feedback control must be used with a suitable slip sensor to regulate the contact force and prevent slip. Furthermore, the controller must be designed to have good performance characteristics to rapidly modulate the fingertip contact force in response to a slip event. In this paper, a fuzzy sliding mode controller combined with a disturbance observer is proposed for contact force control and slip prevention. The controller is based on a system model that is suitable for a wide class of robotic gripper configurations. The robustness of the controller is evaluated through both simulation and experiment. The control scheme was found to be effective and robust to parameter uncertainty. When tested on a real system, however, chattering phenomena, well known to sliding mode research, was induced by the unmodelled suboptimal components of the system (filtering, backlash, and time delays), and the controller performance was reduced

Study to investigate and evaluate means of optimizing the Ku-band combined radar/communication functions for the space shuttle

The Ku band radar system on the shuttle orbiter operates in both a search and a tracking mode, and its transmitter and antennas share time with the communication mode in the integrated system. The power allocation properties and the Costa subloop subcarrier tracking performance associated with the baseline digital phase shift implementation of the three channel orbiter Ku band modulator are discussed

Space Shuttle Proximity Operation Sensor Study

The performance of the Kuband radar was analyzed in detail, and the performance was updated and summarized. In so doing, two different radar design philosophies were described, and the corresponding differences in losses were enumerated. The resulting design margins were determined for both design philosophies and for both the designated and nondesignated range modes of operation. In some cases, the design margin was about zero, and in other cases it was significantly less than zero. With the point of view described above, the recommended solution is to allow more scan time but at the present scan rate. With no other changes in the present configuration, the radar met design detection specifications for all design philosophies at a range of 11.3 nautical miles

Adaptive Control of Systems with Quantization and Time Delays

This thesis addresses problems relating to tracking control of nonlinear systems in the presence of quantization and time delays. Motivated by the importance in areas such as networked control systems (NCSs) and digital systems, where the use of a communication network in NCS introduces several constraints to the control system, such as the occurrence of quantization and time delays. Quantization and time delays are of both practical and theoretical importance, and the study of systems where these issues arises is thus of great importance. If the system also has parameters that vary or are uncertain, this will make the control problem more complicated. Adaptive control is one tool to handle such system uncertainty. In this thesis, adaptive backstepping control schemes are proposed to handle uncertainties in the system, and to reduce the effects of quantization. Different control problems are considered where quantization is introduced in the control loop, either at the input, the state or both the input and the state. The quantization introduces difficulties in the controller design and stability analysis due to the limited information and nonlinear characteristics, such as discontinuous phenomena. In the thesis, it is analytically shown how the choice of quantization level affects the tracking performance, and how the stability of the closed-loop system equilibrium can be achieved by choosing proper design parameters. In addition, a predictor feedback control scheme is proposed to compensate for a time delay in the system, where the inputs are quantized at the same time. Experiments on a 2-degrees of freedom (DOF) helicopter system demonstrate the different developed control schemes.publishedVersio

Low Power High Efficiency Integrated Class-D Amplifier Circuits for Mobile Devices

The consumer’s demand for state-of-the-art multimedia devices such as smart phones and tablet computers has forced manufacturers to provide more system features to compete for a larger portion of the market share. The added features increase the power consumption and heat dissipation of integrated circuits, depleting the battery charge faster. Therefore, low-power high-efficiency circuits, such as the class-D audio amplifier, are needed to reduce heat dissipation and extend battery life in mobile devices. This dissertation focuses on new design techniques to create high performance class-D audio amplifiers that have low power consumption and occupy less space. The first part of this dissertation introduces the research motivation and fundamentals of audio amplification. The loudspeaker’s operation and main audio performance metrics are examined to explain the limitations in the amplification process. Moreover, the operating principle and design procedure of the main class-D amplifier architectures are reviewed to provide the performance tradeoffs involved. The second part of this dissertation presents two new circuit designs to improve the audio performance, power consumption, and efficiency of standard class-D audio amplifiers. The first work proposes a feed-forward power-supply noise cancellation technique for single-ended class-D amplifier architectures to improve the power-supply rejection ratio across the entire audio frequency range. The design methodology, implementation, and tradeoffs of the proposed technique are clearly delineated to demonstrate its simplicity and effectiveness. The second work introduces a new class-D output stage design for piezoelectric speakers. The proposed design uses stacked-cascode thick-oxide CMOS transistors at the output stage that makes possible to handle high voltages in a low voltage standard CMOS technology. The design tradeoffs in efficiency, linearity, and electromagnetic interference are discussed. Finally, the open problems in audio amplification for mobile devices are discussed to delineate the possible future work to improve the performance of class-D amplifiers. For all the presented works, proof-of-concept prototypes are fabricated, and the measured results are used to verify the correct operation of the proposed solutions

Twisted bilayers of folded graphene : morphology and electronic transport

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Quantized State-Feedback Stabilization for Delayed Markovian Jump Linear Systems with Generally Incomplete Transition Rates

This paper is concerned with the robust quantized state-feedback controller design problem for a class of continuous-time Markovian jump linear uncertain systems with general uncertain transition rates and input quantization. The uncertainties under consideration emerge in both system parameters and mode transition rates. This new uncertain model is more general than the existing ones and can be applicable to more practical situations because each transition rate can be completely unknown or only its estimate value is known. Based on linear matrix inequalities, the quantized state-feedback controller is formulated to ensure the closed-loop system is stable in mean square. Finally, a numerical example is presented to verify the validity of the developed theoretical results