Search results for "automatic"

Adaptive Feedback Linearization Control of SynRM Drives With On-Line Inductance Estimation

2023

This article proposes an adaptive input-output Feedback Linearization Control ( FLC ) techniques for Synchronous Reluctance Motor ( SynRM ) drives, taking into consideration the iron losses. As a main original content, this work proposes a control law based on a new dynamic model of the SynRM including iron losses as well as the on-line estimation of the static inductances. The on-line estimation of the SynRM static inductances permits to inherently take into consideration the magnetic saturation phenomena occuring on both axes. As a major result, it permits a null stator current steady state tracking error even with a proportional derivative controller. The estimation law is obtained thank…

Robust Discrete-Time Lateral Control of Racecars by Unknown Input Observers

2023

This brief addresses the robust lateral control problem for self-driving racecars. It proposes a discrete-time estimation and control solution consisting of a delayed unknown input-state observer (UIO) and a robust tracking controller. Based on a nominal vehicle model, describing its motion with respect to a generic desired trajectory and requiring no information about the surrounding environment, the observer reconstructs the total force disturbance signal, resulting from imperfect knowledge of the time-varying tire-road interface characteristics, presence of other vehicles nearby, wind gusts, and other model uncertainty. Then, the controller actively compensates the estimated force and as…

A hybrid observer for localization from noisy inertial data and sporadic position measurements

2023

We propose an asymptotic position and speed observer for inertial navigation in the case where the position measurements are sporadic and affected by noise. We cast the problem in a hybrid dynamics framework where the continuous motion is affected by unknown continuous-time disturbances and the sporadic position measurements are affected by discrete-time noise. We show that the peculiar hybrid cascaded structure describing the estimation error dynamics is globally finite-gain exponentially ISS with gains depending intuitively on our tuning parameters. Experimental results, as well as the comparison with an Extended Kalman Filter (EKF), confirm the effectiveness of the proposed solution with…

Space-vector State Dynamic Model of the SynRM Considering Self, Cross-Saturation and Iron Losses and Related Identification Technique

2023

This article proposes a space-vector dynamic model of the Synchronous Reluctance Motor (SynRM) including both self-saturation, cross-saturation effects, and iron losses. The model is expressed in state form, where the magnetizing current has been selected as a state variable. The proposed dynamic model is based on an original function describing the relationship between the stator flux and the magnetizing current components, improving a previously developed magnetic model. Additionally, the proposed model includes, besides the magnetic saturation, also iron losses. The proposed model requires 11 coefficients, among which 6 describe the self-saturation on both axes and 5 describe the cross-s…

Fondamenti di Controlli Automatici

2008

Fondamenti di Automatica non Lineare

2009

Closed Loop Fuzzy/Lyapunov Control System for Planar Motion of Multiple Autonomous ROVs

2013

ROBOTIC INTERACTION AND COOPERATION. Industrial and rehabilitative applications

2014

The main goal of the thesis is the development of human-robotic interaction control strategies, which enable close collaboration between human and robot. In this framework we studied two di erent aspects, with applications respectively in industrial and rehabilitation domains. In the rst part safety issues are examined on a scenario in which a robot manipulator and a human perform the same task and in the same workspace. During the task execution the human should be able to get into contact with the robot and in this case an estimation algorithm of both interaction forces and contact point is proposed in order to guarantee safety conditions. At the same time, all the unintended contacts hav…

Reduced Complexity Models in the Identifi cation of Dynamical Networks: links with sparsi cation problems.

2009

In many applicative scenarios it is important to derive information about the topology and the internal connections of more dynamical systems interacting together. Examples can be found in fields as diverse as Economics, Neuroscience and Biochemistry. The paper deals with the problem of deriving a descriptive model of a network, collecting the node outputs as time series with no use of a priori insight on the topology. We cast the problem as the optimization of a cost function operating a trade-off between accuracy and complexity in the final model. We address the problem of reducing the complexity by fixing a certain degree of sparsity, and trying to find the solution that ``better'' satis…

Advanced Motion Control in Induction Motor Systems - Modelling, Analysis and Control

Using a unified notation, this thesis collects and discusses the most important steps and issues in the design of estimation and control algorithms for induction motors. It contains many estimation and control algorithms. Their stability is analyzed and their performance is illustrated by simulations and experiments on the same induction motor. An intense and challenging collective research effort is carefully documented and analyzed, with the aim of providing and clarifying the basic intuition and tools required in the analysis and design of nonlinear feedback control algorithms. This material should be of specific interest to engineers who are engaged in the design of control algorithms f…