Publications
161.
Canale, M.; Fagiano, L.; Signorile, M. C.
2010.
@conference{Canale20101483,
title = {Vehicle lateral stability using a front steer by wire device and set membership predictive control techniques},
author = {M. Canale and L. Fagiano and M. C. Signorile},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-77957785812&doi=10.1109%2facc.2010.5531259&partnerID=40&md5=cf7123e9e290d10212ef87502e497762},
doi = {10.1109/acc.2010.5531259},
year = {2010},
date = {2010-01-01},
journal = {Proceedings of the 2010 American Control Conference, ACC 2010},
pages = {1483 – 1488},
abstract = {The problem of yaw rate control of a vehicle equipped with a front steer-by-wire device is considered. In order to effectively handle both the system nonlinearities and the input constraints, a Nonlinear Model Predictive Control (NMPC) technique is adopted. A novelty of this paper is that the vehicle model employed by the NMPC algorithm is identified directly from previously collected input/output data, using a Nonlinear Set Membership (NSM) identification methodology. The measure of the model uncertainty provided by the NSM approach allows to perform a theoretical robust stability analysis of the closed loop system. The effectiveness of the proposed technique is shown through numerical simulations of maneuvers using a detailed vehicle model. © 2010 AACC.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
The problem of yaw rate control of a vehicle equipped with a front steer-by-wire device is considered. In order to effectively handle both the system nonlinearities and the input constraints, a Nonlinear Model Predictive Control (NMPC) technique is adopted. A novelty of this paper is that the vehicle model employed by the NMPC algorithm is identified directly from previously collected input/output data, using a Nonlinear Set Membership (NSM) identification methodology. The measure of the model uncertainty provided by the NSM approach allows to perform a theoretical robust stability analysis of the closed loop system. The effectiveness of the proposed technique is shown through numerical simulations of maneuvers using a detailed vehicle model. © 2010 AACC.
162.
Canale, M.; Fagiano, L.; Novara, C.
Vehicle side-slip angle estimation using a direct MH estimator Conference
2010.
@conference{Canale2010167,
title = {Vehicle side-slip angle estimation using a direct MH estimator},
author = {M. Canale and L. Fagiano and C. Novara},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-78649403222&doi=10.1109%2fCCA.2010.5611078&partnerID=40&md5=5aeda57a85189820bf22ac09d8c77bad},
doi = {10.1109/CCA.2010.5611078},
year = {2010},
date = {2010-01-01},
journal = {Proceedings of the IEEE International Conference on Control Applications},
pages = {167 – 172},
abstract = {The application of a Moving Horizon Estimator (MHE) to the problem of vehicle side-slip angle estimation is studied. In particular, this work focuses on how MHEs can be designed in order to provide estimates of the variable of interest with guaranteed estimation error. The problem is solved using a nonlinear regression observer identified directly from data. © 2010 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
The application of a Moving Horizon Estimator (MHE) to the problem of vehicle side-slip angle estimation is studied. In particular, this work focuses on how MHEs can be designed in order to provide estimates of the variable of interest with guaranteed estimation error. The problem is solved using a nonlinear regression observer identified directly from data. © 2010 IEEE.
163.
Canale, M.; Fagiano, L.; Milanese, M.; Razza, V.
Control of tethered airfoils for sustainable marine transportation Conference
2010.
@conference{Canale20101904,
title = {Control of tethered airfoils for sustainable marine transportation},
author = {M. Canale and L. Fagiano and M. Milanese and V. Razza},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-78649412750&doi=10.1109%2fCCA.2010.5611085&partnerID=40&md5=7a2b65a76fcb5eee1ded4fa8b911828b},
doi = {10.1109/CCA.2010.5611085},
year = {2010},
date = {2010-01-01},
journal = {Proceedings of the IEEE International Conference on Control Applications},
pages = {1904 – 1909},
abstract = {The application to marine transportation of an innovative technology for high-altitude wind power generation is presented in this paper. The key idea is to pull a boat and to generate electricity onboard by exploiting the traction forces generated by automatically controlled tethered power kites. The kites are able to fly fast in crosswind conditions, between 200 m and 600 m above the sea, thus exploiting the stronger and less variable high-altitude winds. Numerical analyses are carried out, using a mathematical model of the system and an efficient Nonlinear Model Predictive Control (NMPC) law. The control law aims to maximize a cost function that takes into account both the traction forces exerted on the boat and the generated electricity, while satisfying the kite operational constraints. © 2010 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
The application to marine transportation of an innovative technology for high-altitude wind power generation is presented in this paper. The key idea is to pull a boat and to generate electricity onboard by exploiting the traction forces generated by automatically controlled tethered power kites. The kites are able to fly fast in crosswind conditions, between 200 m and 600 m above the sea, thus exploiting the stronger and less variable high-altitude winds. Numerical analyses are carried out, using a mathematical model of the system and an efficient Nonlinear Model Predictive Control (NMPC) law. The control law aims to maximize a cost function that takes into account both the traction forces exerted on the boat and the generated electricity, while satisfying the kite operational constraints. © 2010 IEEE.
164.
Canale, M.; Fagiano, L.
Comparing rear wheel steering and rear active differential approaches to vehicle yaw control Journal Article
In: Vehicle System Dynamics, vol. 48, no. 5, pp. 529 – 546, 2010.
@article{Canale2010529,
title = {Comparing rear wheel steering and rear active differential approaches to vehicle yaw control},
author = {M. Canale and L. Fagiano},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-77951465405&doi=10.1080%2f00423110902919055&partnerID=40&md5=0b9ade0b9ca3e57574be2709ae3e7b90},
doi = {10.1080/00423110902919055},
year = {2010},
date = {2010-01-01},
journal = {Vehicle System Dynamics},
volume = {48},
number = {5},
pages = {529 – 546},
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 employed for the control of a vehicle equipped either with a rear wheel steering (RWS) system or with a rear active differential (RAD) device. The uncertainty arising from the wide range of operating conditions is described by an additive model set employed in the controller design. Extensive steady state and transient tests simulated with an accurate 14 degrees of freedom nonlinear model of the considered vehicle show that both systems are able to improve handling and safety in normal driving conditions. RAD devices can make the vehicle reach higher lateral acceleration values but they achieve only slight stability improvements against oversteer. On the other hand, 4WS systems can greatly improve both vehicle safety and manoeuvrability in all driving situations, making this device an interesting and powerful stability system.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
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 employed for the control of a vehicle equipped either with a rear wheel steering (RWS) system or with a rear active differential (RAD) device. The uncertainty arising from the wide range of operating conditions is described by an additive model set employed in the controller design. Extensive steady state and transient tests simulated with an accurate 14 degrees of freedom nonlinear model of the considered vehicle show that both systems are able to improve handling and safety in normal driving conditions. RAD devices can make the vehicle reach higher lateral acceleration values but they achieve only slight stability improvements against oversteer. On the other hand, 4WS systems can greatly improve both vehicle safety and manoeuvrability in all driving situations, making this device an interesting and powerful stability system.
165.
Canale, Massimo; Fagiano, Lorenzo; Milanese, Mario
High altitude wind energy generation using controlled power kites Journal Article
In: IEEE Transactions on Control Systems Technology, vol. 18, no. 2, pp. 279 – 293, 2010.
@article{Canale2010279,
title = {High altitude wind energy generation using controlled power kites},
author = {Massimo Canale and Lorenzo Fagiano and Mario Milanese},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-77649183962&doi=10.1109%2fTCST.2009.2017933&partnerID=40&md5=0e087dc5e8402fc06070431f7c928999},
doi = {10.1109/TCST.2009.2017933},
year = {2010},
date = {2010-01-01},
journal = {IEEE Transactions on Control Systems Technology},
volume = {18},
number = {2},
pages = {279 – 293},
abstract = {This paper presents simulation and experimental results regarding a new class of wind energy generators, denoted as KiteGen, which employ power kites to capture high altitude wind power. A realistic kite model, which includes the kite aerodynamic characteristics and the effects of line weight and drag forces, is used to describe the system dynamics. Nonlinear model predictive control techniques, together with an efficient implementation based on set membership function approximation theory, are employed to maximize the energy obtained by KiteGen, while satisfying input and state constraints. Two different kinds of KiteGen are investigated through numerical simulations, the yo-yo configuration and the carousel configuration, respectively. For each configuration, a generator with the same kite and nominal wind characteristics is considered. A novel control strategy for the carousel configuration, with respect to previous works, is also introduced. The simulation results show that the power generation potentials of the yo-yo and carousel configurations are very similar. Thus, the choice between these two configurations for further development of a medium-to-large scale generator will be made on the basis of technical implementation problems and of other indexes like construction costs and generated power density with respect to land occupation. Experimental data, collected using the small-scale KiteGen prototype built at Politecnico di Torino, are compared to simulation results. The good matching between simulation and real measured data increases the confidence with the presented simulation results, which show that energy generation with controlled power kites can represent a quantum leap in wind power technology, promising to obtain renewable energy from a source largely available almost everywhere, with production costs lower than those of fossil sources. © 2009 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This paper presents simulation and experimental results regarding a new class of wind energy generators, denoted as KiteGen, which employ power kites to capture high altitude wind power. A realistic kite model, which includes the kite aerodynamic characteristics and the effects of line weight and drag forces, is used to describe the system dynamics. Nonlinear model predictive control techniques, together with an efficient implementation based on set membership function approximation theory, are employed to maximize the energy obtained by KiteGen, while satisfying input and state constraints. Two different kinds of KiteGen are investigated through numerical simulations, the yo-yo configuration and the carousel configuration, respectively. For each configuration, a generator with the same kite and nominal wind characteristics is considered. A novel control strategy for the carousel configuration, with respect to previous works, is also introduced. The simulation results show that the power generation potentials of the yo-yo and carousel configurations are very similar. Thus, the choice between these two configurations for further development of a medium-to-large scale generator will be made on the basis of technical implementation problems and of other indexes like construction costs and generated power density with respect to land occupation. Experimental data, collected using the small-scale KiteGen prototype built at Politecnico di Torino, are compared to simulation results. The good matching between simulation and real measured data increases the confidence with the presented simulation results, which show that energy generation with controlled power kites can represent a quantum leap in wind power technology, promising to obtain renewable energy from a source largely available almost everywhere, with production costs lower than those of fossil sources. © 2009 IEEE.
166.
Canale, M.; Fagiano, L.; Milanese, M.
Set Membership approximation theory for fast implementation of Model Predictive Control laws Journal Article
In: Automatica, vol. 45, no. 1, pp. 45 – 54, 2009.
@article{Canale200945,
title = {Set Membership approximation theory for fast implementation of Model Predictive Control laws},
author = {M. Canale and L. Fagiano and M. Milanese},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-57949094425&doi=10.1016%2fj.automatica.2008.06.015&partnerID=40&md5=bab8cd5546fbc2b2d8156010839ca58d},
doi = {10.1016/j.automatica.2008.06.015},
year = {2009},
date = {2009-01-01},
journal = {Automatica},
volume = {45},
number = {1},
pages = {45 – 54},
abstract = {In this paper, the use of Set Membership (SM) methodologies is investigated in the approximation of Model Predictive Control (MPC) laws for linear systems. Such approximated MPC laws are derived from a finite number ν of exact control moves computed off-line. Properties, in terms of guaranteed approximation error, closed-loop stability and performance, are derived assuming only the continuity of the exact predictive control law. These results are achieved by means of two main contributions. At first, it will be shown that if the approximating function enjoys two key properties (i.e. fulfillment of input constraints and explicit evaluation of a bound on the approximation error, which converges to zero as ν increases), then it is possible to guarantee the boundedness of the controlled state trajectories inside a compact set, their convergency to an arbitrary small neighborhood of the origin, and satisfaction of state constraints. Moreover, the guaranteed performance degradation, in terms of maximum state trajectory distance, can be explicitly computed and reduced to an arbitrary small value, by increasing ν. Then, two SM approximations are investigated, both enjoying the above key properties. The first one minimizes the guaranteed approximation error, but its on-line computational time increases with ν. The second one has higher approximation error, but lower on-line computational time which is constant with ν when the off-line computed moves are suitably chosen. The presented approximation techniques can be systematically employed to obtain an efficient MPC implementation for "fast" processes. The effectiveness of the proposed techniques is tested on two numerical examples. © 2008 Elsevier Ltd. All rights reserved.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
In this paper, the use of Set Membership (SM) methodologies is investigated in the approximation of Model Predictive Control (MPC) laws for linear systems. Such approximated MPC laws are derived from a finite number ν of exact control moves computed off-line. Properties, in terms of guaranteed approximation error, closed-loop stability and performance, are derived assuming only the continuity of the exact predictive control law. These results are achieved by means of two main contributions. At first, it will be shown that if the approximating function enjoys two key properties (i.e. fulfillment of input constraints and explicit evaluation of a bound on the approximation error, which converges to zero as ν increases), then it is possible to guarantee the boundedness of the controlled state trajectories inside a compact set, their convergency to an arbitrary small neighborhood of the origin, and satisfaction of state constraints. Moreover, the guaranteed performance degradation, in terms of maximum state trajectory distance, can be explicitly computed and reduced to an arbitrary small value, by increasing ν. Then, two SM approximations are investigated, both enjoying the above key properties. The first one minimizes the guaranteed approximation error, but its on-line computational time increases with ν. The second one has higher approximation error, but lower on-line computational time which is constant with ν when the off-line computed moves are suitably chosen. The presented approximation techniques can be systematically employed to obtain an efficient MPC implementation for "fast" processes. The effectiveness of the proposed techniques is tested on two numerical examples. © 2008 Elsevier Ltd. All rights reserved.
167.
Canale, M.; Fagiano, L.; Razza, V.
2009.
@conference{Canale20094596,
title = {Vehicle lateral stability control via approximated NMPC: Real-time implementation and software-in-the-loop test},
author = {M. Canale and L. Fagiano and V. Razza},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-77950849832&doi=10.1109%2fCDC.2009.5399655&partnerID=40&md5=3b0b9d66b6a5bbc344648dd3bff7d842},
doi = {10.1109/CDC.2009.5399655},
year = {2009},
date = {2009-01-01},
journal = {Proceedings of the IEEE Conference on Decision and Control},
pages = {4596 – 4601},
abstract = {A Nonlinear Model Predictive Control (NMPC) approach to improve vehicle yaw stability and handling by means of a rear active differential is introduced. In particular, the use of NMPC is adopted to show its effectiveness in the vehicle stability control context. However, the application of NMPC for automotive control is limited by the required computational load, which is often incompatible with the employed sampling time. In order to allow the on-line implementation of the designed predictive control law, an efficient technique based on Set Membership approximation methodologies using a Nearest Point approach is adopted. The designed efficient NMPC approximation is implemented on an embedded device with limited computational capacity and tested using software-in-the-loop simulations and an accurate nonlinear model of the vehicle. Enhancements on stability in demanding conditions such as μ-split braking and damping properties in impulsive maneuvers are obtained, as well as improvements over a well-assessed approach based on an an enhanced Internal Model Control structure. ©2009 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
A Nonlinear Model Predictive Control (NMPC) approach to improve vehicle yaw stability and handling by means of a rear active differential is introduced. In particular, the use of NMPC is adopted to show its effectiveness in the vehicle stability control context. However, the application of NMPC for automotive control is limited by the required computational load, which is often incompatible with the employed sampling time. In order to allow the on-line implementation of the designed predictive control law, an efficient technique based on Set Membership approximation methodologies using a Nearest Point approach is adopted. The designed efficient NMPC approximation is implemented on an embedded device with limited computational capacity and tested using software-in-the-loop simulations and an accurate nonlinear model of the vehicle. Enhancements on stability in demanding conditions such as μ-split braking and damping properties in impulsive maneuvers are obtained, as well as improvements over a well-assessed approach based on an an enhanced Internal Model Control structure. ©2009 IEEE.
168.
Canale, Massimo; Fagiano, Lorenzo; Ferrara, Antonella; Vecchio, Claudio
Comparing internal model control and sliding-mode approaches for vehicle yaw control Journal Article
In: IEEE Transactions on Intelligent Transportation Systems, vol. 10, no. 1, pp. 31 – 41, 2009.
@article{Canale200931,
title = {Comparing internal model control and sliding-mode approaches for vehicle yaw control},
author = {Massimo Canale and Lorenzo Fagiano and Antonella Ferrara and Claudio Vecchio},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-61849128760&doi=10.1109%2fTITS.2008.2006772&partnerID=40&md5=1705996c860561b76af98e390295e2c8},
doi = {10.1109/TITS.2008.2006772},
year = {2009},
date = {2009-01-01},
journal = {IEEE Transactions on Intelligent Transportation Systems},
volume = {10},
number = {1},
pages = {31 – 41},
abstract = {In this paper, the problem of vehicle yaw control using a rear active differential is investigated. The proposed control structure employs a reference generator designed to improve vehicle handling, a feedforward contribution that enhances the transient system response, and a feedback controller. Due to system uncertainties and the wide range of operating situations, which are typical of the automotive context, a robust control technique is needed to guarantee system stability. Two different robust feedback controllers, which are based on internal model control and sliding mode methodologies, respectively, are designed, and their performances are compared by means of extensive simulation tests performed using a realistic 14-degree-of-freedom (DOF) model of the considered vehicle. The obtained results show the effectiveness of the proposed control structure with both feedback controllers and highlight their respective benefits and drawbacks. The presented comparative study is a first step to devise a new mixed control strategy that is able to exploit the benefits of both the considered techniques. © 2006 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
In this paper, the problem of vehicle yaw control using a rear active differential is investigated. The proposed control structure employs a reference generator designed to improve vehicle handling, a feedforward contribution that enhances the transient system response, and a feedback controller. Due to system uncertainties and the wide range of operating situations, which are typical of the automotive context, a robust control technique is needed to guarantee system stability. Two different robust feedback controllers, which are based on internal model control and sliding mode methodologies, respectively, are designed, and their performances are compared by means of extensive simulation tests performed using a realistic 14-degree-of-freedom (DOF) model of the considered vehicle. The obtained results show the effectiveness of the proposed control structure with both feedback controllers and highlight their respective benefits and drawbacks. The presented comparative study is a first step to devise a new mixed control strategy that is able to exploit the benefits of both the considered techniques. © 2006 IEEE.
169.
Canale, M.; Fagiano, L.; Milanese, M.
KiteGen: A revolution in wind energy generation Journal Article
In: Energy, vol. 34, no. 3, pp. 355 – 361, 2009.
@article{Canale2009355,
title = {KiteGen: A revolution in wind energy generation},
author = {M. Canale and L. Fagiano and M. Milanese},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-61549088484&doi=10.1016%2fj.energy.2008.10.003&partnerID=40&md5=6d6adb420d1eca64023d34a4ca41b23e},
doi = {10.1016/j.energy.2008.10.003},
year = {2009},
date = {2009-01-01},
journal = {Energy},
volume = {34},
number = {3},
pages = {355 – 361},
abstract = {Control of tethered airfoils is investigated, in order to devise a new class of wind generators to overcome the main limitations of the present wind technology, based on wind mills. A model 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, connected to an electric drive able to act as a generator when the kite pulls the rotor and as a motor in dragging the kite against the wind. Control is obtained by "fast" implementation of Nonlinear Model Predictive Control (NMPC). In the traction phase the control is designed such that the kite pulls the rotor arm, maximizing the amount of generated energy. When energy cannot be generated anymore, 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 encouraging performances. © 2008 Elsevier Ltd. All rights reserved.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Control of tethered airfoils is investigated, in order to devise a new class of wind generators to overcome the main limitations of the present wind technology, based on wind mills. A model 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, connected to an electric drive able to act as a generator when the kite pulls the rotor and as a motor in dragging the kite against the wind. Control is obtained by "fast" implementation of Nonlinear Model Predictive Control (NMPC). In the traction phase the control is designed such that the kite pulls the rotor arm, maximizing the amount of generated energy. When energy cannot be generated anymore, 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 encouraging performances. © 2008 Elsevier Ltd. All rights reserved.
170.
Fagiano, L.; Canale, M.; Milanese, M.
Set membership approximation of discontinuous NMPC laws Conference
2009.
@conference{Fagiano20098636,
title = {Set membership approximation of discontinuous NMPC laws},
author = {L. Fagiano and M. Canale and M. Milanese},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-77950847072&doi=10.1109%2fCDC.2009.5400620&partnerID=40&md5=ff608ec77fe6ba9c30b3d971be0a3acd},
doi = {10.1109/CDC.2009.5400620},
year = {2009},
date = {2009-01-01},
journal = {Proceedings of the IEEE Conference on Decision and Control},
pages = {8636 – 8641},
abstract = {In this paper, the use of Set Membership (SM) approximation methods is investigated, in order to derive a fast implementation of discontinuous nonlinear model predictive control (NMPC) laws. It is shown that the knowledge of the discontinuities is needed in order to achieve an approximated controller with guaranteed and arbitrary small approximation error. Exploiting such a knowledge, SM techniques already developed in previous works for the continuous case are generalized to approximate discontinuous NMPC. Thus, the proposed techniques can be applied to a very general class of predictive control laws, since neither convexity of the optimal cost function nor continuity of the exact NMPC law are assumed. The stability of the closed loop system with the approximated control law is also analyzed. An inverted pendulum example is employed to show the effectiveness of the proposed approach. ©2009 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
In this paper, the use of Set Membership (SM) approximation methods is investigated, in order to derive a fast implementation of discontinuous nonlinear model predictive control (NMPC) laws. It is shown that the knowledge of the discontinuities is needed in order to achieve an approximated controller with guaranteed and arbitrary small approximation error. Exploiting such a knowledge, SM techniques already developed in previous works for the continuous case are generalized to approximate discontinuous NMPC. Thus, the proposed techniques can be applied to a very general class of predictive control laws, since neither convexity of the optimal cost function nor continuity of the exact NMPC law are assumed. The stability of the closed loop system with the approximated control law is also analyzed. An inverted pendulum example is employed to show the effectiveness of the proposed approach. ©2009 IEEE.
171.
Canale, Massimo; Fagiano, Lorenzo; Milanese, Mario
Fast nonlinear model predictive control via set membership approximation: An overview Journal Article
In: Lecture Notes in Control and Information Sciences, vol. 384, pp. 461 – 470, 2009.
@article{Canale2009461,
title = {Fast nonlinear model predictive control via set membership approximation: An overview},
author = {Massimo Canale and Lorenzo Fagiano and Mario Milanese},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-66749124100&doi=10.1007%2f978-3-642-01094-1_36&partnerID=40&md5=ab0952e7ed5865896cc7d68143835308},
doi = {10.1007/978-3-642-01094-1_36},
year = {2009},
date = {2009-01-01},
journal = {Lecture Notes in Control and Information Sciences},
volume = {384},
pages = {461 – 470},
abstract = {The use of Set Membership (SM) function approximation techniques is described, in order to compute off-line a control law which approximates a given Nonlinear Model Predictive Control (NMPC) law. The on-line evaluation time of is faster than the optimization required by the NMPC receding horizon strategy, thus allowing application of NMPC also on processes with "fast" dynamics. Moreover, SM methodology allows to derive approximated control laws with guaranteed worst-case accuracy, which can be suitably tuned to achieve closed loop stability and performance properties that are arbitrarily close to those of the exact NMPC controller. In particular, the properties of three different SM techniques are reviewed here, namely the "optimal", "nearest point" and the "local" approximations, and their performances are compared on a numerical example. © 2009 Springer Berlin Heidelberg.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
The use of Set Membership (SM) function approximation techniques is described, in order to compute off-line a control law which approximates a given Nonlinear Model Predictive Control (NMPC) law. The on-line evaluation time of is faster than the optimization required by the NMPC receding horizon strategy, thus allowing application of NMPC also on processes with "fast" dynamics. Moreover, SM methodology allows to derive approximated control laws with guaranteed worst-case accuracy, which can be suitably tuned to achieve closed loop stability and performance properties that are arbitrarily close to those of the exact NMPC controller. In particular, the properties of three different SM techniques are reviewed here, namely the "optimal", "nearest point" and the "local" approximations, and their performances are compared on a numerical example. © 2009 Springer Berlin Heidelberg.
172.
Canale, Massimo; Fagiano, Lorenzo; Milanese, Mario
Fast nonlinear model predictive control using set membership approximation Conference
vol. 17, no. 1 PART 1, 2008.
@conference{Canale2008,
title = {Fast nonlinear model predictive control using set membership approximation},
author = {Massimo Canale and Lorenzo Fagiano and Mario Milanese},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-79961020109&doi=10.3182%2f20080706-5-KR-1001.0804&partnerID=40&md5=cf1b27f6cb5fa1d3d1a6e2e277bc14a6},
doi = {10.3182/20080706-5-KR-1001.0804},
year = {2008},
date = {2008-01-01},
journal = {IFAC Proceedings Volumes (IFAC-PapersOnline)},
volume = {17},
number = {1 PART 1},
abstract = {Set Membership function estimation methodologies under the Nearest Point approach are employed to compute an approximating function for a nonlinear model predictive controller (NMPC). The method is based on the off-line computation of a finite number nu of exact NMPC control solutions. The obtained approximating functions fulfill input constraints, have computational time which is independent on the control horizon and guarantee a level of accuracy which tends to zero by increasing nu. A nonlinear oscillator example is used to demonstrate the effectiveness of the presented results. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Set Membership function estimation methodologies under the Nearest Point approach are employed to compute an approximating function for a nonlinear model predictive controller (NMPC). The method is based on the off-line computation of a finite number nu of exact NMPC control solutions. The obtained approximating functions fulfill input constraints, have computational time which is independent on the control horizon and guarantee a level of accuracy which tends to zero by increasing nu. A nonlinear oscillator example is used to demonstrate the effectiveness of the presented results. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.
173.
Canale, M.; Fagiano, L.; Ruiz, F.; Signorile, M. C.
A study on the use of virtual sensors in vehicle control Conference
2008.
@conference{Canale20084402,
title = {A study on the use of virtual sensors in vehicle control},
author = {M. Canale and L. Fagiano and F. Ruiz and M. C. Signorile},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-62949199900&doi=10.1109%2fCDC.2008.4739323&partnerID=40&md5=f0ff4044b9c2fa0c792f28563e8c641d},
doi = {10.1109/CDC.2008.4739323},
year = {2008},
date = {2008-01-01},
journal = {Proceedings of the IEEE Conference on Decision and Control},
pages = {4402 – 4407},
abstract = {The design of linear virtual sensors to estimate yaw rate for vehicle stability control systems is investigated. Standard model-based virtual sensor design techniques are compared to novel direct virtual sensor (DVS) design methodologies. The obtained DVS is stable and it can be used in a large range of operating conditions. It is shown how the use of virtual sensors derived directly from data and a suitable choice of the measured variables in sensor design improves the estimation and control accuracy. The effectiveness of the proposed DVS design is demonstrated by its employment in an existing yaw rate feedback loop, based on an Active Front Steering actuator and designed using Internal Model Control techniques. Robust stability is guaranteed in the presence of model uncertainty and of the DVS. In particular, the presented study shows that the DVS technology can be conveniently taken into account to replace physical sensors to obtain low cost stability control solutions for application on A and B segment cars. © 2008 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
The design of linear virtual sensors to estimate yaw rate for vehicle stability control systems is investigated. Standard model-based virtual sensor design techniques are compared to novel direct virtual sensor (DVS) design methodologies. The obtained DVS is stable and it can be used in a large range of operating conditions. It is shown how the use of virtual sensors derived directly from data and a suitable choice of the measured variables in sensor design improves the estimation and control accuracy. The effectiveness of the proposed DVS design is demonstrated by its employment in an existing yaw rate feedback loop, based on an Active Front Steering actuator and designed using Internal Model Control techniques. Robust stability is guaranteed in the presence of model uncertainty and of the DVS. In particular, the presented study shows that the DVS technology can be conveniently taken into account to replace physical sensors to obtain low cost stability control solutions for application on A and B segment cars. © 2008 IEEE.
174.
Canale, M.; Fagiano, L.; Milanese, M.
On the use of approximated predictive control laws for nonlinear systems Conference
2008.
@conference{Canale20084712,
title = {On the use of approximated predictive control laws for nonlinear systems},
author = {M. Canale and L. Fagiano and M. Milanese},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-62949207189&doi=10.1109%2fCDC.2008.4739292&partnerID=40&md5=c2cd52646d43e31ef5137593160d2b54},
doi = {10.1109/CDC.2008.4739292},
year = {2008},
date = {2008-01-01},
journal = {Proceedings of the IEEE Conference on Decision and Control},
pages = {4712 – 4717},
abstract = {The problem of efficient nonlinear model predictive control (NMPC) implementation is investigated, using an approximating function κ̂ to avoid on-line optimization. At first, sufficient conditions are given for κ̂ to guarantee a finite computable bound on the approximation error (i.e. the difference between the exact and approximated control moves). Then, additional conditions are obtained to make such a bound arbitrary small. This result makes it possible to derive guaranteed closed loop stability properties. Finally, it is shown that set membership (SM) nonlinear function approximation theory can be employed to improve the performance of κ̂. The resulting "fast" model predictive control law is given by the sum of κ̂ with a SM approximated function and satisfies the above-mentioned conditions even if they are not met by κ̂ alone. A nonlinear oscillator example shows the effectiveness of the proposed methodology. © 2008 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
The problem of efficient nonlinear model predictive control (NMPC) implementation is investigated, using an approximating function κ̂ to avoid on-line optimization. At first, sufficient conditions are given for κ̂ to guarantee a finite computable bound on the approximation error (i.e. the difference between the exact and approximated control moves). Then, additional conditions are obtained to make such a bound arbitrary small. This result makes it possible to derive guaranteed closed loop stability properties. Finally, it is shown that set membership (SM) nonlinear function approximation theory can be employed to improve the performance of κ̂. The resulting "fast" model predictive control law is given by the sum of κ̂ with a SM approximated function and satisfies the above-mentioned conditions even if they are not met by κ̂ alone. A nonlinear oscillator example shows the effectiveness of the proposed methodology. © 2008 IEEE.
175.
Canale, M.; Fagiano, L.; Ruiz, F.; Signorile, M. C.
On the design of linear virtual sensors for low cost vehicle stability control Conference
2008.
@conference{Canale20081,
title = {On the design of linear virtual sensors for low cost vehicle stability control},
author = {M. Canale and L. Fagiano and F. Ruiz and M. C. Signorile},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-53349128204&doi=10.1109%2fCCA.2008.4629649&partnerID=40&md5=e3cf5cfcb8a537e4cb43b1dd4bc21823},
doi = {10.1109/CCA.2008.4629649},
year = {2008},
date = {2008-01-01},
journal = {Proceedings of the IEEE International Conference on Control Applications},
pages = {1 – 6},
abstract = {The design of linear direct virtual sensors (DVS) to estimate yaw rate for vehicle stability control systems is investigated. The obtained DVS is stable and it can be used in a large range of operating conditions. It is shown how the use of closed-loop collected data and a suitable choice of the measured variables in sensor design improves the estimation accuracy. The effectiveness of the proposed DVS design is demonstrated by its employment in an existing yaw rate feedback loop, based on an Active Front Steering actuator and designed using Internal Model Control techniques. Robust stability is guaranteed in the presence of model uncertainty and of the DVS. In particular, the presented study shows that the DVS technology can be conveniently taken into account to replace physical sensors to obtain low cost stability control solutions for application on A and B segment cars. © 2008 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
The design of linear direct virtual sensors (DVS) to estimate yaw rate for vehicle stability control systems is investigated. The obtained DVS is stable and it can be used in a large range of operating conditions. It is shown how the use of closed-loop collected data and a suitable choice of the measured variables in sensor design improves the estimation accuracy. The effectiveness of the proposed DVS design is demonstrated by its employment in an existing yaw rate feedback loop, based on an Active Front Steering actuator and designed using Internal Model Control techniques. Robust stability is guaranteed in the presence of model uncertainty and of the DVS. In particular, the presented study shows that the DVS technology can be conveniently taken into account to replace physical sensors to obtain low cost stability control solutions for application on A and B segment cars. © 2008 IEEE.
176.
Canale, Massimo; Fagiano, Lorenzo; Ferrara, Antonella; Vecchio, Claudio
Vehicle yaw control via second-order sliding-mode technique Journal Article
In: IEEE Transactions on Industrial Electronics, vol. 55, no. 11, pp. 3908 – 3916, 2008.
@article{Canale20083908,
title = {Vehicle yaw control via second-order sliding-mode technique},
author = {Massimo Canale and Lorenzo Fagiano and Antonella Ferrara and Claudio Vecchio},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-56349163920&doi=10.1109%2fTIE.2008.2003200&partnerID=40&md5=f270f17cb7af32ed8a7212e011f700c6},
doi = {10.1109/TIE.2008.2003200},
year = {2008},
date = {2008-01-01},
journal = {IEEE Transactions on Industrial Electronics},
volume = {55},
number = {11},
pages = {3908 – 3916},
abstract = {The problem of vehicle yaw control is addressed in this paper using an active differential and yaw rate feedback. A reference generator, designed to improve vehicle handling, provides the desired yaw rate value to be achieved by the closed loop controller. The latter is designed using the second-order sliding mode (SOSM) methodology to guarantee robust stability in front of disturbances and model uncertainties, which are typical of the automotive context. A feedforward control contribution is also employed to enhance the transient system response. The control derivative is constructed as a discontinuous signal, attaining an SOSM on a suitably selected sliding manifold. Thus, the actual control input results in being continuous, as it is needed in the considered context. Simulations performed using a realistic nonlinear model of the considered vehicle show the effectiveness of the proposed approach. © 2008 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
The problem of vehicle yaw control is addressed in this paper using an active differential and yaw rate feedback. A reference generator, designed to improve vehicle handling, provides the desired yaw rate value to be achieved by the closed loop controller. The latter is designed using the second-order sliding mode (SOSM) methodology to guarantee robust stability in front of disturbances and model uncertainties, which are typical of the automotive context. A feedforward control contribution is also employed to enhance the transient system response. The control derivative is constructed as a discontinuous signal, attaining an SOSM on a suitably selected sliding manifold. Thus, the actual control input results in being continuous, as it is needed in the considered context. Simulations performed using a realistic nonlinear model of the considered vehicle show the effectiveness of the proposed approach. © 2008 IEEE.
177.
Canale, M.; Fagiano, L.; Ferrara, A.; Vecchio, C.
A comparison between IMC and sliding mode approaches to vehicle yaw control Conference
2008.
@conference{Canale2008248,
title = {A comparison between IMC and sliding mode approaches to vehicle yaw control},
author = {M. Canale and L. Fagiano and A. Ferrara and C. Vecchio},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-52449111254&doi=10.1109%2fACC.2008.4586499&partnerID=40&md5=65037f2db0fad92b3c9e3104c33676a4},
doi = {10.1109/ACC.2008.4586499},
year = {2008},
date = {2008-01-01},
journal = {Proceedings of the American Control Conference},
pages = {248 – 253},
abstract = {In this paper the problem of vehicle yaw control using a rear active differential is investigated. Due to system uncertainties, time-varying road conditions, and the wide range of operating conditions, which are typical of the automotive context, a robust control technique is required to solve this problem. In this paper, two different robust control schemes, based on enhanced Internal Model Control and Second Order Sliding Mode control, respectively, are designed and their performances are compared in simulation. In order to improve the transient behaviour of the proposed control schemes a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeer characteristics and damping properties in impulsive manoeuvres are shown relying on simulations performed on an accurate 14 degree of freedom nonlinear model. ©2008 AACC.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
In this paper the problem of vehicle yaw control using a rear active differential is investigated. Due to system uncertainties, time-varying road conditions, and the wide range of operating conditions, which are typical of the automotive context, a robust control technique is required to solve this problem. In this paper, two different robust control schemes, based on enhanced Internal Model Control and Second Order Sliding Mode control, respectively, are designed and their performances are compared in simulation. In order to improve the transient behaviour of the proposed control schemes a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeer characteristics and damping properties in impulsive manoeuvres are shown relying on simulations performed on an accurate 14 degree of freedom nonlinear model. ©2008 AACC.
178.
Canale, M.; Fagiano, L.
Vehicle yaw control using a fast NMPC approach Conference
2008.
@conference{Canale20085360,
title = {Vehicle yaw control using a fast NMPC approach},
author = {M. Canale and L. Fagiano},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-62949135007&doi=10.1109%2fCDC.2008.4738779&partnerID=40&md5=dc1fc20100e8e6ce7d4e48d90ab47950},
doi = {10.1109/CDC.2008.4738779},
year = {2008},
date = {2008-01-01},
journal = {Proceedings of the IEEE Conference on Decision and Control},
pages = {5360 – 5365},
abstract = {A model predictive control approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. In particular, the use of nonlinear predictive controllers is investigated to show their effectiveness in the vehicle stability control context. In order to allow the online implementation of the designed predictive control law, a fast technique based on Set Membership approximation methodologies using a Nearest Point approach is adopted. Enhancements on stability in demanding conditions such as μ-split braking and damping properties in impulsive maneuvers are shown through simulation results performed on an accurate nonlinear model of the vehicle. Improvements over a well assessed approach which employ an enhanced IMC structure to handle input constraints will be shown too. © 2008 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
A model predictive control approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. In particular, the use of nonlinear predictive controllers is investigated to show their effectiveness in the vehicle stability control context. In order to allow the online implementation of the designed predictive control law, a fast technique based on Set Membership approximation methodologies using a Nearest Point approach is adopted. Enhancements on stability in demanding conditions such as μ-split braking and damping properties in impulsive maneuvers are shown through simulation results performed on an accurate nonlinear model of the vehicle. Improvements over a well assessed approach which employ an enhanced IMC structure to handle input constraints will be shown too. © 2008 IEEE.
179.
Canale, M.; Fagiano, L.
Stability control of 4WS vehicles using robust IMC techniques Journal Article
In: Vehicle System Dynamics, vol. 46, no. 11, pp. 991 – 1011, 2008.
@article{Canale2008991,
title = {Stability control of 4WS vehicles using robust IMC techniques},
author = {M. Canale and L. Fagiano},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-50849119104&doi=10.1080%2f00423110701790723&partnerID=40&md5=f854e4236494d9cf48f027a40396e1b1},
doi = {10.1080/00423110701790723},
year = {2008},
date = {2008-01-01},
journal = {Vehicle System Dynamics},
volume = {46},
number = {11},
pages = {991 – 1011},
abstract = {A robust nonparametric approach to vehicle stability control by means of a four-wheel steer by wire system is introduced. Both yaw rate and sideslip angle feedbacks are used in order to effectively take into account safety as well as handling performances. Reference courses for yaw rate and sideslip angle are computed on the basis of the vehicle speed and the handwheel angle imposed by the driver. An output multiplicative model set is used to describe the uncertainty arising from a wide range of vehicle operating situations. The effects of saturation of the control variables (i.e. front and rear steering angles) are taken into account by adopting enhanced internal model control methodologies in the design of the feedback controller. Actuator dynamics are considered in the controller design. Improvements on understeer characteristics, stability in demanding conditions such as turning on low friction surfaces, damping properties in impulsive manoeuvres, and improved handling in closed loop (i.e. with driver feedback) manoeuvres are shown through extensive simulation results performed on an accurate 14 degrees of freedom nonlinear model, which proved to give good modelling results as compared with collected experimental data.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
A robust nonparametric approach to vehicle stability control by means of a four-wheel steer by wire system is introduced. Both yaw rate and sideslip angle feedbacks are used in order to effectively take into account safety as well as handling performances. Reference courses for yaw rate and sideslip angle are computed on the basis of the vehicle speed and the handwheel angle imposed by the driver. An output multiplicative model set is used to describe the uncertainty arising from a wide range of vehicle operating situations. The effects of saturation of the control variables (i.e. front and rear steering angles) are taken into account by adopting enhanced internal model control methodologies in the design of the feedback controller. Actuator dynamics are considered in the controller design. Improvements on understeer characteristics, stability in demanding conditions such as turning on low friction surfaces, damping properties in impulsive manoeuvres, and improved handling in closed loop (i.e. with driver feedback) manoeuvres are shown through extensive simulation results performed on an accurate 14 degrees of freedom nonlinear model, which proved to give good modelling results as compared with collected experimental data.
180.
Canale, Massimo; Fagiano, Lorenzo; Milanese, Mario
Power kites for wind energy generation: Fast predictive control of tethered airfoils Journal Article
In: IEEE Control Systems Magazine, vol. 27, no. 6, pp. 25 – 38, 2007.
@article{Canale200725,
title = {Power kites for wind energy generation: Fast predictive control of tethered airfoils},
author = {Massimo Canale and Lorenzo Fagiano and Mario Milanese},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-57949098389&doi=10.1109%2fMCS.2007.909465&partnerID=40&md5=ab71921151534b8de2ea551a4e8ce8ce},
doi = {10.1109/MCS.2007.909465},
year = {2007},
date = {2007-01-01},
journal = {IEEE Control Systems Magazine},
volume = {27},
number = {6},
pages = {25 – 38},
abstract = {There are problems posed by electric energy generation from fossil sources and can be overcome by alternative sources that are renewable. However, the current wind power renewable technologies have limitations. Addressing this issue, the KiteGen project was initiated at Politecnico di Torino in designing and building a new class of wind energy generators in collaboration with Sequoia Automation, Modelway, and Centro Studi Industriali. The project aims to capture wind energy by means of controlled tethered airfoils, that is, kite. The KiteGen project has designed and simulated a small-scale prototype, which aims to demonstrate the ability to control the flight of a single kite in producing a significant amount of energy, and verifying the energy production levels predicted in simulation studies. Meanwhile, in order to investigate the potential of KiteGen and to assist in the design of physical prototypes, a controller is designed for use in numerical simulations.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
There are problems posed by electric energy generation from fossil sources and can be overcome by alternative sources that are renewable. However, the current wind power renewable technologies have limitations. Addressing this issue, the KiteGen project was initiated at Politecnico di Torino in designing and building a new class of wind energy generators in collaboration with Sequoia Automation, Modelway, and Centro Studi Industriali. The project aims to capture wind energy by means of controlled tethered airfoils, that is, kite. The KiteGen project has designed and simulated a small-scale prototype, which aims to demonstrate the ability to control the flight of a single kite in producing a significant amount of energy, and verifying the energy production levels predicted in simulation studies. Meanwhile, in order to investigate the potential of KiteGen and to assist in the design of physical prototypes, a controller is designed for use in numerical simulations.