Adaptive Discrete Second Order Sliding Mode Control with Application to Nonlinear Automotive Systems

Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional continuous-time SMC on digital computers is limited, due to the imprecisions caused by data sampling and quantization, and the chattering phenomena, which results in high frequency oscillations. One effective solution to minimize the effects of data sampling and quantization imprecisions is the use of higher order sliding modes. To this end, in this paper, a new formulation of an adaptive second order discrete sliding mode control (DSMC) is presented for a general class of multi-input multi-output (MIMO) uncertain nonlinear systems. Based on a Lyapunov stability argument and by invoking the new Invariance Principle, not only the asymptotic stability of the controller is guaranteed, but also the adaptation law is derived to remove the uncertainties within the nonlinear plant dynamics. The proposed adaptive tracking controller is designed and tested in real-time for a highly nonlinear control problem in spark ignition combustion engine during transient operating conditions. The simulation and real-time processor-in-the-loop (PIL) test results show that the second order single-input single-output (SISO) DSMC can improve the tracking performances up to 90%, compared to a first order SISO DSMC under sampling and quantization imprecisions, in the presence of modeling uncertainties. Moreover, it is observed that by converting the engine SISO controllers to a MIMO structure, the overall controller performance can be enhanced by 25%, compared to the SISO second order DSMC, because of the dynamics coupling consideration within the MIMO DSMC formulation.Comment: 12 pages, 7 figures, 1 tabl

MIMO First and Second Order Discrete Sliding Mode Controls of Uncertain Linear Systems under Implementation Imprecisions

The performance of a conventional model-based controller significantly depends on the accuracy of the modeled dynamics. The model of a plant's dynamics is subjected to errors in estimating the numerical values of the physical parameters, and variations over operating environment conditions and time. These errors and variations in the parameters of a model are the major sources of uncertainty within the controller structure. Digital implementation of controller software on an actual electronic control unit (ECU) introduces another layer of uncertainty at the controller inputs/outputs. The implementation uncertainties are mostly due to data sampling and quantization via the analog-to-digital conversion (ADC) unit. The failure to address the model and ADC uncertainties during the early stages of a controller design cycle results in a costly and time consuming verification and validation (V&V) process. In this paper, new formulations of the first and second order discrete sliding mode controllers (DSMC) are presented for a general class of uncertain linear systems. The knowledge of the ADC imprecisions is incorporated into the proposed DSMCs via an online ADC uncertainty prediction mechanism to improve the controller robustness characteristics. Moreover, the DSMCs are equipped with adaptation laws to remove two different types of modeling uncertainties (multiplicative and additive) from the parameters of the linear system model. The proposed adaptive DSMCs are evaluated on a DC motor speed control problem in real-time using a processor-in-the-loop (PIL) setup with an actual ECU. The results show that the proposed SISO and MIMO second order DSMCs improve the conventional SISO first order DSMC tracking performance by 69% and 84%, respectively. Moreover, the proposed adaptation mechanism is able to remove the uncertainties in the model by up to 90%.Comment: 10 pages, 11 figures, ASME 2017 Dynamic Systems and Control Conferenc

Discrete Adaptive Second Order Sliding Mode Controller Design with Application to Automotive Control Systems with Model Uncertainties

Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and sensitivity to data sampling imprecisions limit the digital implementation of conventional first order continuous-time SMC. Higher order discrete SMC is an effective solution to reduce the chattering during the controller software implementation, and also overcome imprecisions due to data sampling. In this paper, a new adaptive second order discrete sliding mode control (DSMC) formulation is presented to mitigate data sampling imprecisions and uncertainties within the modeled plant's dynamics. The adaptation mechanism is derived based on a Lyapunov stability argument which guarantees asymptotic stability of the closed-loop system. The proposed controller is designed and tested on a highly nonlinear combustion engine tracking control problem. The simulation test results show that the second order DSMC can improve the tracking performance up to 80% compared to a first order DSMC under sampling and model uncertainties.Comment: 6 pages, 6 figures, 2017 American Control Conferenc

Prediction of Preterm Labor from the Electrohysterogram Signals Based on Different Gestational Weeks

Timely preterm labor prediction plays an important role for increasing the chance of neonate survival, the mother’s mental health, and reducing financial burdens imposed on the family. The objective of this study is to propose a method for the reliable prediction of preterm labor from the electrohysterogram (EHG) signals based on different pregnancy weeks. In this paper, EHG signals recorded from 300 subjects were split into 2 groups: (I) those with preterm and term labor EHG data that were recorded prior to the 26th week of pregnancy (referred to as the PE-TE group), and (II) those with preterm and term labor EHG data that were recorded after the 26th week of pregnancy (referred to as the PL-TL group). After decomposing each EHG signal into four intrinsic mode functions (IMFs) by empirical mode decomposition (EMD), several linear and nonlinear features were extracted. Then, a self-adaptive synthetic over-sampling method was used to balance the feature vector for each group. Finally, a feature selection method was performed and the prominent ones were fed to different classifiers for discriminating between term and preterm labor. For both groups, the AdaBoost classifier achieved the best results with a mean accuracy, sensitivity, specificity, and area under the curve (AUC) of 95%, 92%, 97%, and 0.99 for the PE-TE group and a mean accuracy, sensitivity, specificity, and AUC of 93%, 90%, 94%, and 0.98 for the PL-TL group. The similarity between the obtained results indicates the feasibility of the proposed method for the prediction of preterm labor based on different pregnancy weeks.Peer reviewe

VME-DWT : an efficient algorithm for detection and elimination of eye blink from short segments of single EEG channel

Objective: Recent advances in development of low-cost single-channel electroencephalography (EEG) headbands have opened new possibilities for applications in health monitoring and brain-computer interface (BCI) systems. These recorded EEG signals, however, are often contaminated by eye blink artifacts that can yield the fallacious interpretation of the brain activity. This paper proposes an efficient algorithm, VME-DWT, to remove eye blinks in a short segment of the single EEG channel. Method: The proposed algorithm: (a) locates eye blink intervals using Variational Mode Extraction (VME) and (b) filters only contaminated EEG interval using an automatic Discrete Wavelet Transform (DWT) algorithm. The performance of VME-DWT is compared with an automatic Variational Mode Decomposition (AVMD) and a DWT-based algorithms, proposed for suppressing eye blinks in a short segment of the single EEG channel. Results: The VME-DWT detects and filters 95% of the eye blinks from the contaminated EEG signals with SNR ranging from −8 to +3 dB. The VME-DWT shows superiority to the AVMD and DWT with the higher mean value of correlation coefficient (0.92 vs. 0.83, 0.58) and lower mean value of RRMSE (0.42 vs. 0.59, 0.87). Significance: The VME-DWT can be a suitable algorithm for removal of eye blinks in low-cost single-channel EEG systems as it is: (a) computationally-efficient, the contaminated EEG signal is filtered in millisecond time resolution, (b) automatic, no human intervention is required, (c) low-invasive, EEG intervals without contamination remained unaltered, and (d) low-complexity, without need to the artifact reference

Energy management and control of a hybrid electric vehicle with an integrated low temperature combustion (LTC) engine

Copyright © 2014 by ASME. Low Temperature Combustion (LTC) provides a promising solution for clean energy-efficient engine technology which has not yet been utilized in Hybrid Electric Vehicle (HEV) engines. In this study, a variant of LTC engines, known as Homogeneous Charge Compression Ignition (HCCI), is utilized for operation in a series HEV configuration. An experimentally validated dynamic HCCI model is used to develop required engine torquefuel consumption data. Given the importance of EnergyManagement Control (EMC) on HEV fuel economy, three different types of EMCs are designed and implemented. The EMC strategies incorporate three different control schemes including thermostatic Rule-Based Control (RBC), Dynamic Programming (DP), and Model Predictive Control (MPC). The simulation results are used to examine the fuel economy advantage of a series HEV with an integrated HCCI engine, compared to a conventional HEV with a modern Spark Ignition (SI) engine. The results show 12.6% improvement in fuel economy by using a HCCI engine in a HEV compared to a conventional HEV using a SI engine. In addition, the selection of EMC strategy is found to have a strong impact on vehicle fuel economy. EMC based on DP controller provides 15.3% fuel economy advantage over the RBC in a HEV with a HCCI engine

Analysis and Control of a Torque Blended Hybrid Electric Powertrain with a Multi-Mode LTC-SI Engine

Low Temperature Combustion (LTC) engines are promising to improve powertrain fuel economy and reduce NOx and soot emissions by improving the in-cylinder combustion process. However, the narrow operating range of LTC engines limits the use of these engines in conventional powertrains. The engines limited operating range can be improved by taking advantage of electrification in the powertrain. In this study, a multi-mode LTC-SI engine is integrated with a parallel hybrid electric configuration, where the engine operation modes include Homogeneous Charge Compression Ignition (HCCI), Reactivity Controlled Compression Ignition (RCCI), and conventional Spark Ignition (SI). The powertrain controller is designed to enable switching among different modes, with minimum fuel penalty for transient engine operations. A Pontryagin\u27s Minimum Principal (PMP) methodology is used in the energy management supervisory controller to study the powertrain energy flow and to select the optimum electrification level. The simulation results show 1.4% to 8.8% fuel consumption reduction for the hybrid electric powertrain with the multi-mode LTC-SI engine over a single-mode SI engine in the identical powertrain platform. Moreover, the results for the UDDS driving cycle show the maximum benefit of the multi-mode LTC-SI engine is realized in the mild electrification level, where the LTC mode operating time increases dramatically from 1.5% in Plug-in Hybrid Electric Vehicle (PHEV) to 30.5% in mild HEV

Low Complexity Automatic Stationary Wavelet Transform for Elimination of Eye Blinks from EEG

The electroencephalogram signal (EEG) often suffers from various artifacts and noises that have physiological and non-physiological origins. Among these artifacts, eye blink, due to its amplitude is considered to have the most influence on EEG analysis. In this paper, a low complexity approach based on Stationary Wavelet Transform (SWT) and skewness is proposed to remove eye blink artifacts from EEG signals. The proposed method is compared against Automatic Wavelet Independent Components Analysis (AWICA) and Enhanced AWICA. Normalized Root Mean Square Error (NRMSE), Peak Signal-to-Noise Ratio (PSNR), and correlation coefficient ( ρ ) between filtered and pure EEG signals are utilized to quantify artifact removal performance. The proposed approach shows smaller NRMSE, larger PSNR, and larger correlation coefficient values compared to the other methods. Furthermore, the speed of execution of the proposed method is considerably faster than other methods, which makes it more suitable for real-time processing