Publications
181.
Canale, M.; Fagiano, L.
A robust IMC approach for stability control of 4WS vehicles Conference
2007.
@conference{Canale20072283,
title = {A robust IMC approach for stability control of 4WS vehicles},
author = {M. Canale and L. Fagiano},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-46449125332&doi=10.1109%2fACC.2007.4282262&partnerID=40&md5=35637702c7ee0f66ee96fb3bf7dcd6dd},
doi = {10.1109/ACC.2007.4282262},
year = {2007},
date = {2007-01-01},
journal = {Proceedings of the American Control Conference},
pages = {2283 – 2288},
abstract = {A robust non parametric approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. An additive model set is used to describe the uncertainty arising from the wide range of the vehicle operating situations. The effects of saturation of the control variable (i.e. yaw moment) have been taken into account by adopting enhanced Internal Model Control methodologies in the design of the feedback controller. In order to improve the transient behavior a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeering characteristics, stability in demanding conditions such as μ-split braking and damping properties in impulsive manoeuvres are shown through simulation results performed on an accurate 14 degrees of freedom nonlinear model. © 2007 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
A robust non parametric approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. An additive model set is used to describe the uncertainty arising from the wide range of the vehicle operating situations. The effects of saturation of the control variable (i.e. yaw moment) have been taken into account by adopting enhanced Internal Model Control methodologies in the design of the feedback controller. In order to improve the transient behavior a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeering characteristics, stability in demanding conditions such as μ-split braking and damping properties in impulsive manoeuvres are shown through simulation results performed on an accurate 14 degrees of freedom nonlinear model. © 2007 IEEE.
182.
Canale, M.; Fagiano, L.; Milanese, M.; Borodani, P.
Robust vehicle yaw control using an active differential and IMC techniques Journal Article
In: Control Engineering Practice, vol. 15, no. 8, pp. 923 – 941, 2007.
@article{Canale2007923,
title = {Robust vehicle yaw control using an active differential and IMC techniques},
author = {M. Canale and L. Fagiano and M. Milanese and P. Borodani},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-34247574388&doi=10.1016%2fj.conengprac.2006.11.012&partnerID=40&md5=f11fbdc53693ea75b28538f7f7de489c},
doi = {10.1016/j.conengprac.2006.11.012},
year = {2007},
date = {2007-01-01},
journal = {Control Engineering Practice},
volume = {15},
number = {8},
pages = {923 – 941},
abstract = {A robust non-parametric approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. An additive model set is used to describe the uncertainty arising from the wide range of the vehicle operating situations. The design of the feedback controller is performed using an enhanced internal model control (IMC) technique, able to handle in an effective way both robustness and control variable saturation issues. In order to improve the transient behaviour a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeering characteristics, stability in demanding conditions such as μ-split braking and damping properties in reversal steer and low friction step steer manoeuvres are shown through simulation results performed on an accurate 14 degrees of freedom non-linear model of a segment D car. © 2006 Elsevier Ltd. All rights reserved.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
A robust non-parametric approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. An additive model set is used to describe the uncertainty arising from the wide range of the vehicle operating situations. The design of the feedback controller is performed using an enhanced internal model control (IMC) technique, able to handle in an effective way both robustness and control variable saturation issues. In order to improve the transient behaviour a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeering characteristics, stability in demanding conditions such as μ-split braking and damping properties in reversal steer and low friction step steer manoeuvres are shown through simulation results performed on an accurate 14 degrees of freedom non-linear model of a segment D car. © 2006 Elsevier Ltd. All rights reserved.
183.
Canale, M.; Fagiano, L.
Comparing RWS and RAD approaches in robust vehicle yaw control Conference
2007.
@conference{Canale20071225,
title = {Comparing RWS and RAD approaches in robust vehicle yaw control},
author = {M. Canale and L. Fagiano},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84927728823&doi=10.23919%2fecc.2007.7068361&partnerID=40&md5=153287c2d5c370ae488dd2ed59d96e7d},
doi = {10.23919/ecc.2007.7068361},
year = {2007},
date = {2007-01-01},
journal = {2007 European Control Conference, ECC 2007},
pages = {1225 – 1232},
abstract = {A comparison between two different approaches to vehicle stability control is carried out, employing a robust non parametric technique in the controller design. In particular, an enhanced Internal Model Control strategy, together with a feedforward action and a suitably generated reference map, is introduced for the control of a vehicle equipped with a Rear Wheel Steering system and one equipped with a Rear Active Differential device. The uncertainty arising from the wide range of operating conditions is described by an additive model set employed in the controller design. Comparison of understeering characteristics, stability over low friction surfaces, damping properties in impulsive manoeuvres and disturbance rejection are shown through simulation results performed on an accurate 14 degrees of freedom nonlinear model. © 2007 EUCA.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
A comparison between two different approaches to vehicle stability control is carried out, employing a robust non parametric technique in the controller design. In particular, an enhanced Internal Model Control strategy, together with a feedforward action and a suitably generated reference map, is introduced for the control of a vehicle equipped with a Rear Wheel Steering system and one equipped with a Rear Active Differential device. The uncertainty arising from the wide range of operating conditions is described by an additive model set employed in the controller design. Comparison of understeering characteristics, stability over low friction surfaces, damping properties in impulsive manoeuvres and disturbance rejection are shown through simulation results performed on an accurate 14 degrees of freedom nonlinear model. © 2007 EUCA.
184.
Canale, M.; Fagiano, L.; Milanese, M.; Ippolito, M.
KiteGen project: Control as key technology for a quantum leap in wind energy generators Conference
2007.
@conference{Canale20073522,
title = {KiteGen project: Control as key technology for a quantum leap in wind energy generators},
author = {M. Canale and L. Fagiano and M. Milanese and M. Ippolito},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-39549109906&doi=10.1109%2fACC.2007.4282697&partnerID=40&md5=390c6270b5a860f6755976c2614a71af},
doi = {10.1109/ACC.2007.4282697},
year = {2007},
date = {2007-01-01},
journal = {Proceedings of the American Control Conference},
pages = {3522 – 3528},
abstract = {The paper investigates the control of tethered airfoils in order to devise a new class of wind generators, indicated as KiteGen, able to overcome the main limitations of the present aeolian technology based on wind mills. A model taken from the literature is used to simulate the dynamic of a kite whose lines are suitably pulled by a control unit. Energy is generated by a cycle composed of two phases, indicated as the traction and the drag one. The kite control unit is placed on the arm of a vertical axis rotor, which is connected to an electric drive able to act as generator when the kite lines pull the rotor and as motor in dragging the kite against the wind flow. In each phase, control is obtained by "fast" implementations of suitable NMPC designs. In the traction phase the control is designed such that the kite pulls the rotor arm, maximizing the amount of generated energy. When the kite is not able to generate energy any more, the control enters the drag phase and the kite is driven to a region where the energy spent to drag the rotor is a small fraction of the energy generated in the traction phase, until a new traction phase is undertaken. Simulation results are presented, showing that KiteGen may represent a quantum leap in wind energy generation. © 2007 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
The paper investigates the control of tethered airfoils in order to devise a new class of wind generators, indicated as KiteGen, able to overcome the main limitations of the present aeolian technology based on wind mills. A model taken from the literature is used to simulate the dynamic of a kite whose lines are suitably pulled by a control unit. Energy is generated by a cycle composed of two phases, indicated as the traction and the drag one. The kite control unit is placed on the arm of a vertical axis rotor, which is connected to an electric drive able to act as generator when the kite lines pull the rotor and as motor in dragging the kite against the wind flow. In each phase, control is obtained by "fast" implementations of suitable NMPC designs. In the traction phase the control is designed such that the kite pulls the rotor arm, maximizing the amount of generated energy. When the kite is not able to generate energy any more, the control enters the drag phase and the kite is driven to a region where the energy spent to drag the rotor is a small fraction of the energy generated in the traction phase, until a new traction phase is undertaken. Simulation results are presented, showing that KiteGen may represent a quantum leap in wind energy generation. © 2007 IEEE.
185.
Canale, M.; Fagiano, L.; Milanese, M.; Borodani, P.
Robust vehicle yaw control using active differential and Internal Model Control techniques Conference
vol. 2006, 2006.
@conference{Canale20065354,
title = {Robust vehicle yaw control using active differential and Internal Model Control techniques},
author = {M. Canale and L. Fagiano and M. Milanese and P. Borodani},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-34047236706&partnerID=40&md5=ae98027fd461bc426cda56d35bd42283},
year = {2006},
date = {2006-01-01},
journal = {Proceedings of the American Control Conference},
volume = {2006},
pages = {5354 – 5359},
abstract = {A robust non parametric approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. An additive model set is used to describe the uncertainty arising from the wide range of the vehicle operating situations. The effects of saturation of the control variable (i.e. yaw moment) have been taken into account by adopting enhanced Internal Model Control methodologies in the design of the feedback controller. In order to improve the transient behavior a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeering characteristics, stability in demanding conditions such as μ-split braking and damping properties in impulsive manoeuvres are shown through simulation results performed on an accurate 14 degree of freedom nonlinear model. © 2006 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
A robust non parametric approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. An additive model set is used to describe the uncertainty arising from the wide range of the vehicle operating situations. The effects of saturation of the control variable (i.e. yaw moment) have been taken into account by adopting enhanced Internal Model Control methodologies in the design of the feedback controller. In order to improve the transient behavior a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeering characteristics, stability in demanding conditions such as μ-split braking and damping properties in impulsive manoeuvres are shown through simulation results performed on an accurate 14 degree of freedom nonlinear model. © 2006 IEEE.
186.
Canale, M.; Fagiano, L.; Ippolito, M.; Milanese, M.
Control of tethered airfoils for a new class of wind energy generator Conference
2006.
@conference{Canale20064020,
title = {Control of tethered airfoils for a new class of wind energy generator},
author = {M. Canale and L. Fagiano and M. Ippolito and M. Milanese},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-39649104059&doi=10.1109%2fcdc.2006.376775&partnerID=40&md5=8abcf7a6eb59a746d9b9b9924ac3b3d3},
doi = {10.1109/cdc.2006.376775},
year = {2006},
date = {2006-01-01},
journal = {Proceedings of the IEEE Conference on Decision and Control},
pages = {4020 – 4026},
abstract = {The paper investigates the control of tethered airfoils in order to devise a new class of wind generators able to overcome the main limitations of the present aeolian technology based on wind mills. A model taken from the literature is used to simulate the dynamic of a kite which can be controlled by suitably pulling two lines. Energy is generated by a cycle composed of two phases, indicated as the traction and the recovery one. The control unit has two electric drives which act as motors in pulling the lines for controlling the flight or for recovering the kite and as generators if the kite pulls the lines. In each phase, control is obtained by "fast" implementations of suitable NMPC designs. In the traction phase the control is designed such that the kite pulls the lines, maximizing the amount of generated energy. When the maximal length of the lines is reached, the control enters the recovery phase and the kite is driven to a region where the lines can be pulled by the motors until the minimal length is reached, spending a small fraction of the energy generated in the traction phase, and a new traction phase is undertaken. Simulation results are presented, related to a recently built small scale prototype. © 2006 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
The paper investigates the control of tethered airfoils in order to devise a new class of wind generators able to overcome the main limitations of the present aeolian technology based on wind mills. A model taken from the literature is used to simulate the dynamic of a kite which can be controlled by suitably pulling two lines. Energy is generated by a cycle composed of two phases, indicated as the traction and the recovery one. The control unit has two electric drives which act as motors in pulling the lines for controlling the flight or for recovering the kite and as generators if the kite pulls the lines. In each phase, control is obtained by "fast" implementations of suitable NMPC designs. In the traction phase the control is designed such that the kite pulls the lines, maximizing the amount of generated energy. When the maximal length of the lines is reached, the control enters the recovery phase and the kite is driven to a region where the lines can be pulled by the motors until the minimal length is reached, spending a small fraction of the energy generated in the traction phase, and a new traction phase is undertaken. Simulation results are presented, related to a recently built small scale prototype. © 2006 IEEE.