Non-linear control of a Narrow Tilting Vehicle

International audience— Narrow Tilting Vehicles (NTVs) are the convergence of a car and a motorcycle. They are expected to be the new generation of city cars considering their practical dimensions and lower energy consumption. But considering their height to breadth ratio, in order to maintain lateral stability, NTVs should tilt when cornering. Unlike the motorcycle's case, where the driver tilts the vehicle himself, the tilting of an NTV should be automatic. Two tilting systems are available; Direct and Steering Tilt Control, the combined action of these two systems being certainly the key to improve considerably NTVs dynamic performances. Focusing on the lateral dynamic of NTVs, multivariable control strategies based on linear robust control theory, were already proposed in the literature, assuming decoupling with the longitudinal dynamic. In this paper a 4 DoF model of the main longitudinal and lateral dynamics is considered, and its differential flatness is demonstrated. The three flat outputs have furthermore a particular physical meaning, making possible the design of a simple external control loop complying with the driver demands

Direct and Steering Tilt Robust Control of Narrow Vehicles

International audienceNarrow Tilting Vehicles (NTVs) are the convergence of a car and a motorcycle. They are expected to be the new generation of city cars considering their practical dimensions and lower energy consumption. However, due to their height to breadth ratio, in order to maintain lateral stability, NTVs should tilt when cornering. Unlike the motorcycle, where the driver tilts the vehicle himself, the tilting of an NTV should be automatic. Two tilting systems are available; Direct and Steering Tilt Control, the combined action of these two systems being certainly the key to improve considerably NTV dynamic performances. In this paper, multivariable control tools (H2 methodology) are used to design, in a systematic way, lateral assistance controllers driving DTC, STC or both DTC/STC systems. A three degrees of freedom model of the vehicle is used, as well as a model of the steering signal, leading to a two degrees of freedom low order controller with an efficient feedforward anticipative part. Taking advantage of all the available measurements on NTVs, the lateral acceleration is directly regulated. Finally, a gain-scheduling solution is provided to make the DTC, STC, and DTC/STC controllers robust to longitudinal speed variations

Real Time Motion Generation for Mobile Robot

International audienc

Shared Control Based on an Ecological Feedforward and a Driver Model Based Feedback

International audienceHaptic shared control is a consistent way to design an assistance for the lateral control of a vehicle. The most important problem raised by haptic shared control is to minimize useless conflicts between the driver and the assistance. To deal with, this paper proceeds in two stages. The first is concerned with feedforward synthesis in a new way, by identifying mainly the geometric part of driving from real driver data. The torque to apply to the steering wheel and more generally the reference trajectory is thus obtained from a second order model fed by the road curvature. Then, the feedback is designed based on a driver-vehicle-road model, using a mixed í µí°» 2 /í µí°» ∞ control synthesis involving both lane following performance and sharing capabilities indicators. Finally, the shared control strategy is simulated on Matlab/Simulink using a vehicle-road model. The results obtained show good features both in terms of lane following and sharing performances. This control strategy seems then to be an interesting candidate for haptic shared control

Operating data of a specific Aquatic Center as a Benchmark for dynamic model learning: search for a valid prediction model over an 8-hour horizon

This article presents an identification benchmark based on data from a public swimming pool in operation. Such a system is both a complex process and easily understandable by all with regard to the stakes. Ultimately, the objective is to reduce the energy bill while maintaining the level of quality of service. This objective is general in scope and is not limited to public swimming pools. This can be done effectively through what is known as economic predictive control. This type of advanced control is based on a process model. It is the aim of this article and the considered benchmark to show that such a dynamic model can be obtained from operating data. For this, operational data is formatted and shared, and model quality indicators are proposed. On this basis, the first identification results illustrate the results obtained by a linear multivariable model on the one hand, and by a neural dynamic model on the other hand. The benchmark calls for other proposals and results from control and data scientists for comparison

Contribution à l'analyse et la commande structurée des grands systèmes

Nowadays, the control designer has to deal with more and more complex systems, with a high number of dynamics, but also of actuators and captors, or even spatial structural constraints on the controller. This comes from the increasing complexity of industrial processes, the use of more and more efficient communication systems, and increasing performances requirements (optimization as global as possible).Even if decentralized control theory has benefit from numerous studies since the 70's, many problems are still opened. At the same time, efficient tools for analysis and synthesis have been developed, especially in the H2 and the H¥ context. However, application of such tools in the case of large-scale systems (composed most of the time of interconnected subsystems) may be difficult, even more if structural constraints are applied to the controller.Methodology is essential when the control problem of complex system is considered. To this end, this document focuses on the analysis of the interconnections of subsystems in order to choose the most appropriated structure for the controller. The choice of the criterion, and the global optimization of a H2 controller in a sequential manner are also considered. These methodological considerations are applied on an experimental web transport system.Davantage que par le passé, le concepteur de lois de commande se trouve confronté à des systèmes complexes : nombre élevé de dynamiques mais aussi d'actionneurs et de capteurs, voire contraintes spatiales sur la structure du régulateur. Ceci résulte de la complexification croissante des processus industriels, de l'avènement de systèmes de communication performants ainsi que de la recherche de performances accrues (recherche d'une optimisation plus globale).Si la commande décentralisée a mobilisé de nombreux efforts de recherche dés les années 70, de nombreux problèmes restent ouverts. Dans le même temps, des outils d'analyse et de synthèse performants ont été développés, dans le cadre H2 et H¥ notamment. Leur mise en œuvre pour de très grands systèmes (composés le plus souvent de sous-systèmes interconnectés) peut cependant poser problème, et ce d'autant que des contraintes de structure sont appliquées au correcteur.L'élaboration de commandes pour les systèmes complexes requiert à l'évidence de la méthodologie. A cette fin, ce document s'intéresse à l'analyse des interconnexions internes au système pour choisir la structure du régulateur la mieux appropriée. Il considère également la problématique du choix du critère et la possibilité d'aborder séquentiellement l'optimisation globale d'un correcteur H2. Ces réflexions à caractère méthodologique sont mises en œuvre sur un système expérimental (multi-moteurs) d'entraînement de bande flexible

Contribution à l'analyse et la commande structurée des grands systèmes

Davantage que par le passé, le concepteur de lois de commande se trouve confronté à des systèmes complexes : nombre élevé de dynamiques mais aussi d'actionneurs et de capteurs, voire contraintes spatiales sur la structure du régulateur. Ceci résulte de la complexification croissante des processus industriels, de l avènement de systèmes de communication performants ainsi que de la recherche de performances accrues (recherche d une optimisation plus globale). Si la commande décentralisée a mobilisé de nombreux efforts de recherche dés les années 70, de nombreux problèmes restent ouverts. Dans le même temps, des outils d analyse et de synthèse performants ont été développés, dans le cadre H2 et Hinf notamment. Leur mise en œuvre pour de très grands systèmes (composés le plus souvent de sous-systèmes interconnectés) peut cependant poser problème, et ce d autant que des contraintes de structure sont appliquées au correcteur. L élaboration de commandes pour les systèmes complexes requiert à l évidence de la méthodologie. A cette fin, ce document s intéresse à l analyse des interconnexions internes au système pour choisir la structure du régulateur la mieux appropriée. Il considère également la problématique du choix du critère et la possibilité d aborder séquentiellement l optimisation globale d un correcteur H2. Ces réflexions à caractère méthodologique sont mises en œuvre sur un système expérimental (multi-moteurs) d'entraînement de bande flexible.NANTES-BU Sciences (441092104) / SudocNANTES-Ecole Centrale (441092306) / SudocSudocFranceF

A sequential design methodology for large-scale LBT systems

International audienceno abstrac