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This paper introduces an instrumented steering wheel, built from a steering wheel divided in three sections. It has three dynamometers that measure the force wrench applied on each third. We describe the calibration process, which compensates for the effects of weight and inertia, with the introduction of a new parameter that contains the Euler force. A driving simulation platform was built as a demonstration...
This paper deals with the sensorless control of Electric Power-Assisted Steering (EPAS) system with the permanent magnet synchronous motor (PMSM) using sliding mode techniques. Using steering wheel angle and motor currents measurements, two cascaded sliding mode observers with unknown inputs are designed. The whole observer generates the driver torque needed to determine the amount of the assistance...
In this paper, hybrid observers based approach for faults detection and isolation, for a class of MIMO hybrid systems, is proposed. The faults herein considered can affect the sensors or the discrete trajectory of the considered system. The proposed approach is based on a Dedicated Switched Robust Observer Scheme (DSROS) using three blocks in interaction. A block generating the mode signatures, a...
This paper presents a force feedback control approach to enhance the realism and the fidelity of an electric power steering simulator. This simulator includes a real steering system with its electric assistance and a DC motor intended for the load rack force restitution. This motor allows to compensate for the lack of real tires and to simulate the tire/road contact as in a real driving situation...
This paper addresses the state estimation of a class of switched linear systems with unknown inputs. These systems may have modes in which the state is not fully observable. A time-varying state transformation allows to implement a suitable reduced-order observer. This observer is based on gathering partial information from individual modes of the switched system. The asymptotic state reconstruction...
This paper deals with the problem of designing an exact nonlinear reconstructor for discrete-time chaotic encrypted messages. More precisely, we investigate the problem of designing a discrete-time dead-beat observer for nonlinear systems with unknown inputs. The application of the proposed observer in the context of secure communication and data transmission is also investigated.
In this paper, we will present a new and a simple method based on an Unknown Input observer to estimate the discrete state of the hybrid Photovoltaic systems (PV hybrid systems) where the evolution of the discrete part is governed by a Petri net. The discrete part is presented by the operating mode of the PV hybrid system and the continuous part is related to the control of the power ratio provided...
The purpose in this paper is to evaluate the impact of CO2 emissions from traffic in interurban area. Initially the main idea was to apply control strategy on the road under the assumption to assure fluid traffic flow. In the following the gases emissions was evaluated as results of this regulation procedure. The proposed control approach is based on noninteger robust methodology. Therefore, is possible...
In this paper, we focus on the synthesis of a hybrid observer for a class of nonlinear switched systems where the evolution of the discrete state is governed by a Petri Net. The switched systems, herein, considered are characterized by switching laws that can depend on both the continuous states and external events. A new observer composed of a continuous and a discrete observer in interaction is...
The paper is about the first part of a PNR (National Research Program). The study is divided into numerous parts. The first one concerns the collect of operating points of a conventional (engine) vehicle to know the energy consumption and instantaneous power needed on a driving path, in a suburban and urban everyday use of the vehicle. This paper presents the hybrid, electrical and conventional vehicle...
This paper presents a new control strategy of Electric Power Assisted Steering (EPAS) systems to ensure several control objectives. First, a reference model is employed to generate ideal motor angle that can guarantee the control objectives, assist torque generation, fast response to driver's torque command, vibration attenuation, supplying road information to the driver, improving steering wheel...
This paper presents a robust control design of Electric Power Assisted Steering (EPAS) system. The control is synthesized using integral sliding mode control to ensure the control objectives, such as the steering assist torque generation, the dampening compensation and the robustness to the parameters uncertainty, modeling errors, nonlinearity and disturbances. The driver torque needed to determine...
In this paper, we consider the problem of the enlargement of the region of attraction of polynomial nonlinear systems. We use an optimization strategy based on Linear Matrix Inequality (LMI), to compute the region of attraction (RA). The main contribution consist in a preliminary estimation of the general form of this region obtained by the trajectory reversed Method. Moreover, an explicit determination...
In the present paper, we propose to transform via a change of coordinates and control law the structure of a subclass of underactuated mechanical system in tree structure to a chain one. By this way, we allow extension of some classical control design as backstepping and feedback linearization to a class of underactuated system to which these approaches fail to be applied initially. Specially, a systematic...
Driver torque and steering reaction force are important information in the designing of EPAS (Electric Power Assisted Steering) system. The driver torque determines the amount of assisted torque and the reaction force can be used to improve the steering feeling and the vehicle stability or introduce a new assist torque control. Since, in practice, they are not usually measureable; a sliding mode observer...
This paper considers the finite-time controller design for wheeled mobile robots. After the mobile robot dynamics have been transformed into an advantageous form, called the heisenberg form, a finite-time controller is designed in order to promulgate the practical stability of the system. The desired stability property of the closed-loop system is provided by applying a homogeneous sliding mode controller,...
In the paper a methodology of robust tyre-force estimation for heavy duty vehicles using higher order sliding mode observers is developed. For this goal yaw-roll model is used. The main on-board sensors are provided through the CAN-bus of the vehicle, but low-cost sensors are added. The approach is validated by comparing the estimation results to those given by the software vehicle dynamics PROSPER.
The aim of this paper is to estimate the capacitor's voltages by tacking the hybrid behavior of the multicellular converter into account. A nonlinear finite time observer is given in order to solve this problem. The stability and properties of the proposed homogeneous finite time observer are studied using Lyapunov theory. Our approach enables the stabilization of the observation errors in spite of...
Direct torque control (DTC) allows for very high quality torque control without a need for current controllers tuning or using coordinate transformation. However, barge torque ripples arise as well as inconstant inverter switching frequency due to the hysteresis of comparators. This paper present a backstepping/DTC control based on the space vector modulation (SVPWM) for double star synchronous machine...
In this paper, we first propose an algorithm that permits to derive a transformation allowing to transform a controllable pair into the Extended Jordan Controllable Canonical (EJCC) form. The proposed EJCC form is, in fact, an extension of the Brunovsky and the Jordan form. Next, by duality we derive an algorithm that permits to transform an observable pair into the Extended Jordan Observable Canonical...
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