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This paper presents a detailed literature review about Linear Parameter Varying (LPV) approaches applied to vehicle suspension systems. Indeed many works have been devoted to vehicle (active and semi-active) suspension in the past 20 years, because this subsystem in the only one affecting passenger comfort and road holding. Moreover several studies have also been concerned with global vehicle dynamic control using the suspension systems in collaboration with other subsystems (steering, braking …). On the other hand, the LPV approaches have proved to be very efficient to control non linear systems as well as to provide some kind of adaptive control. Naturally many LPV methods have been developed for suspension systems in order to take into account the nonlinear characteristics of the dampers, to adapt the suspension performance to the passenger request or to the road profile, to make the suspension systems collaborate with other subsystems, or to provide a fault tolerant control in case of damper loss of efficiency. This survey paper will make a deep analysis about the recent studies dedicated to vehicle suspension systems aiming at providing a better insight on the type of LPV methods that have been considered.
Olivier Sename. Review on LPV Approaches for Suspension Systems. Electronics 2021, 10, 2120 .
AMA StyleOlivier Sename. Review on LPV Approaches for Suspension Systems. Electronics. 2021; 10 (17):2120.
Chicago/Turabian StyleOlivier Sename. 2021. "Review on LPV Approaches for Suspension Systems." Electronics 10, no. 17: 2120.
This paper presents an integrated linear parameter-varying (LPV) control approach of an autonomous vehicle with an objective to guarantee driving comfort, consisting of cruise and semi-active suspension control. First, the vehicle longitudinal and vertical dynamics (equipped with a semi-active suspension system) are presented and written into LPV state-space representations. The reference speed is calculated online from the estimated road type and the desired comfort level (characterized by the frequency weighted vertical acceleration defined in the ISO 2631 norm) using precomputed polynomial functions. Then, concerning cruise control, an LPV
Gia Tran; Thanh-Phong Pham; Olivier Sename; Eduarda Costa; Peter Gaspar. Integrated Comfort-Adaptive Cruise and Semi-Active Suspension Control for an Autonomous Vehicle: An LPV Approach. Electronics 2021, 10, 813 .
AMA StyleGia Tran, Thanh-Phong Pham, Olivier Sename, Eduarda Costa, Peter Gaspar. Integrated Comfort-Adaptive Cruise and Semi-Active Suspension Control for an Autonomous Vehicle: An LPV Approach. Electronics. 2021; 10 (7):813.
Chicago/Turabian StyleGia Tran; Thanh-Phong Pham; Olivier Sename; Eduarda Costa; Peter Gaspar. 2021. "Integrated Comfort-Adaptive Cruise and Semi-Active Suspension Control for an Autonomous Vehicle: An LPV Approach." Electronics 10, no. 7: 813.
This paper focuses on the design of a disturbance rejection controller for a tailless aircraft based on the technique of nonlinear dynamic inversion (NDI). The tailless aircraft model mounted on a three degree-of-freedom (3-DOF) dynamic rig in the wind tunnel is modeled as a nonlinear affine system subject to mismatched disturbances. First of all, a baseline NDI attitude controller is designed for sufficient stability and good reference tracking performance of the nominal system. Then, a nonlinear disturbance observer (NDO) is supplemented to the baseline NDI controller to estimate the lumped disturbances for compensation, including unmodeled dynamics, parameter uncertainties, and external disturbances. Mathematical analysis demonstrates the convergence of the employed NDO and the resulting closed-loop system. Furthermore, an anti-windup modification is applied to the NDO for control performance preserving in the presence of actuator saturation. Subsequently, the designed control schemes are preliminarily validated and compared via simulations. The baseline NDI controller demonstrates satisfactory attitude tracking performance in the case of nominal simulation; the NDO augmented NDI controller presents significantly improved ability of disturbance rejection when compared with the baseline NDI controller in the case of robust simulation; the anti-windup modified scheme, rather than the baseline NDI controller nor the NDO augmented NDI controller, can preserve the closed-loop performance in the case of actuator saturation. Finally, the baseline NDI scheme and the NDO augmented NDI scheme are implemented and further validated in the wind tunnel flight tests, which demonstrate that the experimental results are in good agreement with that of the simulations.
Bowen Nie; Zhitao Liu; Tianhao Guo; Litao Fan; Hongxu Ma; Olivier Sename. Design and Validation of Disturbance Rejection Dynamic Inverse Control for a Tailless Aircraft in Wind Tunnel. Applied Sciences 2021, 11, 1407 .
AMA StyleBowen Nie, Zhitao Liu, Tianhao Guo, Litao Fan, Hongxu Ma, Olivier Sename. Design and Validation of Disturbance Rejection Dynamic Inverse Control for a Tailless Aircraft in Wind Tunnel. Applied Sciences. 2021; 11 (4):1407.
Chicago/Turabian StyleBowen Nie; Zhitao Liu; Tianhao Guo; Litao Fan; Hongxu Ma; Olivier Sename. 2021. "Design and Validation of Disturbance Rejection Dynamic Inverse Control for a Tailless Aircraft in Wind Tunnel." Applied Sciences 11, no. 4: 1407.
Several studies exist on topics of semi-active suspension and vehicle cruise control systems in the literature, while many of them just consider actual road distortions and terrain characteristics, these systems are not adaptive and their subsystems designed separately. This study introduces a new method where the integration of look-ahead road data in the control of the adaptive semi-active suspension, where it is possible to the trade-off between comfort and stability orientation. This trade-off is designed by the decision layer, where the controller is modified based on prehistorical passive suspension simulations, vehicle velocity and road data, while the behavior of the controller can be modified by the use of a dedicated scheduling variable. The adaptive semi-active suspension control is designed by using Linear Parameter Varying (LPV) framework. In addition to this, it proposes designing the vehicle velocity for the cruise controller by considering energy efficiency and comfort together. TruckSim environment is used to validate the operation of the proposed integrated cruise and semi-active suspension control system.
Hakan Basargan; András Mihály; Péter Gáspár; Olivier Sename. Adaptive Semi-Active Suspension and Cruise Control through LPV Technique. Applied Sciences 2020, 11, 290 .
AMA StyleHakan Basargan, András Mihály, Péter Gáspár, Olivier Sename. Adaptive Semi-Active Suspension and Cruise Control through LPV Technique. Applied Sciences. 2020; 11 (1):290.
Chicago/Turabian StyleHakan Basargan; András Mihály; Péter Gáspár; Olivier Sename. 2020. "Adaptive Semi-Active Suspension and Cruise Control through LPV Technique." Applied Sciences 11, no. 1: 290.
This work presents a concise control-oriented model for electro-rheological (ER) dampers. This model can serve for fault-tolerant control purposes, considering automotive suspension performance enhancement. ER dampers present, basically, a resistance against shearing that varies according to a controlled electric field. The main purpose of this work is to describe the force dynamics delivered by these ER dampers with a simple/reduced-order model that catches its overall behaviour with accuracy. One of the key points in the proposed approach is to describe the dynamics of the controlled portion of the damper force as a first-order system. Synthetically, this study is twofold: (1) the first part is an analytical approach towards the dynamic modelling of the ER damper force, wherein a reduced-order model is obtained, parameters are identified, and validation results are presented; (2) the second analyses the possible faults on these dampers and incorporates their affect to the developed model, which is of paramount importance for diagnosis and reliability of suspension systems. Hence, the proposed model is adequate for the design and synthesis of fault detection and diagnosis/fault-tolerant control (FDD/FTC) schemes, being able to run fast in real time in embedded electronic control units, that usually operate within 1–10 ms. Throughout this study, simulation and experimental validation tests are performed on a real 1/5-scaled vehicle testbed. Model parameters are identified via relatively simple procedures performed in this testbed. Results are shown to illustrate how the model can be used for FDD and FTC of semi-active suspension systems. The overall results assess the ability and the accuracy of the proposed model to characterize the force delivered by ER dampers in both healthy and faulty conditions.
Marcelo Menezes Morato; Thanh-Phong Pham; Olivier Sename; Luc Dugard. Development of a simple ER damper model for fault-tolerant control design. Journal of the Brazilian Society of Mechanical Sciences and Engineering 2020, 42, 1 -22.
AMA StyleMarcelo Menezes Morato, Thanh-Phong Pham, Olivier Sename, Luc Dugard. Development of a simple ER damper model for fault-tolerant control design. Journal of the Brazilian Society of Mechanical Sciences and Engineering. 2020; 42 (10):1-22.
Chicago/Turabian StyleMarcelo Menezes Morato; Thanh-Phong Pham; Olivier Sename; Luc Dugard. 2020. "Development of a simple ER damper model for fault-tolerant control design." Journal of the Brazilian Society of Mechanical Sciences and Engineering 42, no. 10: 1-22.
Tailless aircraft suffers from limited yaw control power and poor directional stability inherently. To address these issues in the early design process of a tailless configuration with low costs and risks, this paper presents an innovative experimental approach to control law validation and quantitative flying quality evaluation with a dynamically scaled model mounted on a three degree-of-freedom rig in the wind tunnel. The motion equations of the tailless demonstrator on the rig are derived, and then the comparisons of the lateral-directional flight dynamics between the rig constrained model and the free flight model are carried out. Construction of the control augmentation system for yaw and roll motion is accomplished according to the scale modified criteria of flying qualities. Effectiveness of the designed control law is demonstrated with steady pilot-in-the-loop flights at different airspeeds and angles of attack. The achieved closed-loop flying qualities are evaluated by applying multistep maneuvers for low order equivalent system identification. Whereas severe instability is observed in yaw for the open-loop case, the closed-loop flying quality of the Dutch-roll mode can be improved to level 1 at low angle of attack.
Bowen Nie; Zhitao Liu; Fei Cen; Duoneng Liu; Hongxu Ma; Olivier Sename. An Innovative Experimental Approach to Lateral-Directional Flying Quality Investigation for Tailless Aircraft. IEEE Access 2020, 8, 109543 -109556.
AMA StyleBowen Nie, Zhitao Liu, Fei Cen, Duoneng Liu, Hongxu Ma, Olivier Sename. An Innovative Experimental Approach to Lateral-Directional Flying Quality Investigation for Tailless Aircraft. IEEE Access. 2020; 8 ():109543-109556.
Chicago/Turabian StyleBowen Nie; Zhitao Liu; Fei Cen; Duoneng Liu; Hongxu Ma; Olivier Sename. 2020. "An Innovative Experimental Approach to Lateral-Directional Flying Quality Investigation for Tailless Aircraft." IEEE Access 8, no. : 109543-109556.
Motivated by the fact that many nonlinear plants can be represented through Linear Parameter Varying (LPV) embedding, and being this framework very popular for control design, this paper investigates the available Model Predictive Control (MPC) policies that can be applied for such systems. This paper reviews the available works considering LPV MPC design, ranging from the sub-optimal, simplified, yet Quadratic Programming (QP) algorithms, the tube-based tools, the set-constrained procedures, the Nonlinear Programming procedures and the robust ones; the main features of the recent research body on this topic are examined. A simulation example is given comparing some of the important techniques. Finally, some suggestions are given for future investigation threads, seeking further applicability of these methods.
Marcelo M. Morato; Julio E. Normey-Rico; Olivier Sename. Model predictive control design for linear parameter varying systems: A survey. Annual Reviews in Control 2020, 49, 64 -80.
AMA StyleMarcelo M. Morato, Julio E. Normey-Rico, Olivier Sename. Model predictive control design for linear parameter varying systems: A survey. Annual Reviews in Control. 2020; 49 ():64-80.
Chicago/Turabian StyleMarcelo M. Morato; Julio E. Normey-Rico; Olivier Sename. 2020. "Model predictive control design for linear parameter varying systems: A survey." Annual Reviews in Control 49, no. : 64-80.
Control of complex systems with inherent randomness in process dynamics poses a serious concern for control engineers, especially in situations where performance and constraint satisfaction are highly demanded. In this paper, we propose a real time (RT) scenario based stochastic parameterized NMPC (SS-pNMPC) scheme for control of semi-active (SA) system for a half car vehicle. The method utilizes graphic processing unit (GPU) to generate several RT scenarios of the random road profile for each parameterized input and through Monte-Carlo (MC) simulations, the expected objective function along with a probabilistic constraint violation certificate are numerically obtained. The optimal input is elicited by finding the input either with minimum expected objective or with the lowest probabilistic constraint violation certificate. The method was implemented on NVIDIA Jetson embedded boards and also, tested in MATLAB/Simulink environment for different ISO road profiles and the simulation results exhibits better performance of the proposed method in comparison to passive systems.
Karthik Murali Madhavan Rathai; Mazen Alamir; Olivier Sename. GPU based Stochastic Parameterized NMPC scheme for Control of Semi-Active Suspension System for Half Car Vehicle. IFAC-PapersOnLine 2020, 53, 14369 -14374.
AMA StyleKarthik Murali Madhavan Rathai, Mazen Alamir, Olivier Sename. GPU based Stochastic Parameterized NMPC scheme for Control of Semi-Active Suspension System for Half Car Vehicle. IFAC-PapersOnLine. 2020; 53 (2):14369-14374.
Chicago/Turabian StyleKarthik Murali Madhavan Rathai; Mazen Alamir; Olivier Sename. 2020. "GPU based Stochastic Parameterized NMPC scheme for Control of Semi-Active Suspension System for Half Car Vehicle." IFAC-PapersOnLine 53, no. 2: 14369-14374.
This paper proposes a solution for the integrated longitudinal and lateral control problem of autonomous vehicles. A mixed model including kinematic and dynamic behaviour of the vehicle is used to design a single controller to achieve stability and tracking performances. The proposed solution is based on the Linear Parameter Varying (LPV) control approach, where an output-feedback dynamical controller is designed based on Linear Matrix Inequalities (LMIs). The control synthesis is carried on using the gridded-based approach to reduce the conservatism. Simulation results show the stabilization of the vehicle with robustness in tracking performances, in the presence of the road friction coefficient disturbances.
Hussam Atoui; Olivier Sename; Eugenio Alcala; Vicenc Puig. Parameter Varying Approach For A Combined (Kinematic + Dynamic) Model Of Autonomous Vehicles. IFAC-PapersOnLine 2020, 53, 15071 -15076.
AMA StyleHussam Atoui, Olivier Sename, Eugenio Alcala, Vicenc Puig. Parameter Varying Approach For A Combined (Kinematic + Dynamic) Model Of Autonomous Vehicles. IFAC-PapersOnLine. 2020; 53 (2):15071-15076.
Chicago/Turabian StyleHussam Atoui; Olivier Sename; Eugenio Alcala; Vicenc Puig. 2020. "Parameter Varying Approach For A Combined (Kinematic + Dynamic) Model Of Autonomous Vehicles." IFAC-PapersOnLine 53, no. 2: 15071-15076.
Cooperative Adaptive Cruise Control with a variable time headway is considered in this paper. The two main objectives are the convergence of the spacing errors towards zero and the attenuation of any disturbance propagating along the platoon. To ensure those objectives for any variable time headway, the H∞ - Linear Parameter Varying approach is used. The efficiency of the designed controller is illustrated through frequency domain analysis and time domain simulations.
Khaled Laib; Olivier Sename; Luc Dugard. String Stable H∞ LPV Cooperative Adaptive Cruise Control with a Variable Time Headway. IFAC-PapersOnLine 2020, 53, 15140 -15145.
AMA StyleKhaled Laib, Olivier Sename, Luc Dugard. String Stable H∞ LPV Cooperative Adaptive Cruise Control with a Variable Time Headway. IFAC-PapersOnLine. 2020; 53 (2):15140-15145.
Chicago/Turabian StyleKhaled Laib; Olivier Sename; Luc Dugard. 2020. "String Stable H∞ LPV Cooperative Adaptive Cruise Control with a Variable Time Headway." IFAC-PapersOnLine 53, no. 2: 15140-15145.
The design of a Model Predictive Control (MPC) algorithm for quasi Linear Parameter Varying (qLPV) systems is developed herein. An online Least-Squares procedure that computes the future evolution of the qLPV scheduling parameters is at the core of the proposed method, which enables the replacement of a complex nonlinear optimization by a (much simpler) Quadratic Programming Problem (QP) one. The method also uses contractive terminal set constraints and a Lyapunov-associated terminal cost to the MPC QP, so that the domain of attraction of this controller is enlarged and feasibility is guaranteed. This paper ends with a successful simulation of this technique applied to the control of vehicular suspensions.
Marcelo Menezes Morato; Julio E. Normey-Rico; Olivier Sename. Novel qLPV MPC Design with Least-Squares Scheduling Prediction. IFAC-PapersOnLine 2019, 52, 158 -163.
AMA StyleMarcelo Menezes Morato, Julio E. Normey-Rico, Olivier Sename. Novel qLPV MPC Design with Least-Squares Scheduling Prediction. IFAC-PapersOnLine. 2019; 52 (28):158-163.
Chicago/Turabian StyleMarcelo Menezes Morato; Julio E. Normey-Rico; Olivier Sename. 2019. "Novel qLPV MPC Design with Least-Squares Scheduling Prediction." IFAC-PapersOnLine 52, no. 28: 158-163.
This paper proposes a nonlinear parameter varying (NLPV) observer to estimate in real-time the damper force of an electrorheological (ER) damper in road vehicle suspension system. First, a nonlinear quarter-car model equipped with the dynamic nonlinear model of ER damper is presented, which captures the main behavior of the suspension system. The estimation method of the damper force is developed using a NLPV observer whose objectives are to minimize the effects of bounded unknown road profile disturbances and measurement noises on the estimation errors in the H∞ framework. Furthermore, the nonlinearity coming from damper model (and considered in the observer formulation) is handled through a Lipschitz condition. The observer inputs are given by two low-cost sensors data (two accelerometers data from the sprung mass and the unsprung mass). For performance assessment, the observer is implemented on the INOVE testbench of GIPSA-lab (1/5-scaled real vehicle). Both simulation and experimental results demonstrate the effectiveness of the proposed observer in terms of the ability of estimating the damper force in real-time and of minimizing the effects of measurement noises and road disturbances.
Thanh-Phong Pham; Olivier Sename; Luc Dugard. Real-time Damper Force Estimation of Vehicle Electrorheological Suspension: A NonLinear Parameter Varying Approach. IFAC-PapersOnLine 2019, 52, 94 -99.
AMA StyleThanh-Phong Pham, Olivier Sename, Luc Dugard. Real-time Damper Force Estimation of Vehicle Electrorheological Suspension: A NonLinear Parameter Varying Approach. IFAC-PapersOnLine. 2019; 52 (28):94-99.
Chicago/Turabian StyleThanh-Phong Pham; Olivier Sename; Luc Dugard. 2019. "Real-time Damper Force Estimation of Vehicle Electrorheological Suspension: A NonLinear Parameter Varying Approach." IFAC-PapersOnLine 52, no. 28: 94-99.
This paper analyses the problem of control and stabilization of a particular class of Linear Time Invariant (LTI) systems. The system under consideration has two unstable poles, n real stable poles, m minimum phase zeros plus time delay. An observer based controller with four tunable gains is proposed as a control strategy in order to ensure a stable behaviour of the closed-loop system. Sufficient conditions for the existence of the proposed scheme are obtained in terms of the upper limit of time delay size and the poles and zeros position. The controller parameters are tuned using a non-smooth H∞ optimization method. The proposed control strategy is applied to an unstable linearized model of a continuously stirred tank reactor (CSTR) in order to show the effectiveness of the proposed design scheme. Numerical results are presented.
Carlos Daniel Vázquez; David Novella; Basilio Del Muro; Olivier Sename; Luc Dugard; Juan Francisco Márquez. Structured observer-based controller for delayed systems with two unstable poles and minimum phase zeros. IFAC-PapersOnLine 2019, 52, 162 -167.
AMA StyleCarlos Daniel Vázquez, David Novella, Basilio Del Muro, Olivier Sename, Luc Dugard, Juan Francisco Márquez. Structured observer-based controller for delayed systems with two unstable poles and minimum phase zeros. IFAC-PapersOnLine. 2019; 52 (18):162-167.
Chicago/Turabian StyleCarlos Daniel Vázquez; David Novella; Basilio Del Muro; Olivier Sename; Luc Dugard; Juan Francisco Márquez. 2019. "Structured observer-based controller for delayed systems with two unstable poles and minimum phase zeros." IFAC-PapersOnLine 52, no. 18: 162-167.
Vázquez Rosas C. D.; Márquez Rubio J. F.; B. Del Muro Cuéllar; D. F. Novella Rodríguez; O. Sename; L. Dugard. Stabilizing High-order Delayed Systems with Minimum-phase Zeros Using Simple Controllers. Studies in Informatics and Control 2019, 28, 381 -390.
AMA StyleVázquez Rosas C. D., Márquez Rubio J. F., B. Del Muro Cuéllar, D. F. Novella Rodríguez, O. Sename, L. Dugard. Stabilizing High-order Delayed Systems with Minimum-phase Zeros Using Simple Controllers. Studies in Informatics and Control. 2019; 28 (4):381-390.
Chicago/Turabian StyleVázquez Rosas C. D.; Márquez Rubio J. F.; B. Del Muro Cuéllar; D. F. Novella Rodríguez; O. Sename; L. Dugard. 2019. "Stabilizing High-order Delayed Systems with Minimum-phase Zeros Using Simple Controllers." Studies in Informatics and Control 28, no. 4: 381-390.
This paper aims at comparing three robust observers used to estimate the damping force of electrorheological (ER) dampers in a vehicle suspension system. Firstly, a nonlinear quarter-car model, augmented with a first-order dynamical nonlinear damper model, is developed. The first two methods are designed considering the nonlinearity as an unknown input and minimizing the effect of the unknown input disturbances (including a nonlinearity term, the measurement noise and the unknown road profile) on the estimation errors, by using an H2 and H∞ criterion, respectively. The latter method aims at minimizing only the effects of measurement noises and road profiles on the state variable estimation errors by using a H∞ criterion, while the nonlinearity is bounded through a Lipschitz condition. For implementation issue, two low-cost sensors signals (two accelerometers data from the sprung mass and the unsprung mass) are considered as inputs for the observer designs. Then, the observers are implemented in real-time on the INOVE test bench from GIPSA-lab (1/5-scaled real vehicle) to assess and compare experimentally the performances of the approaches. Both simulations and experimental results demonstrate a better effectiveness of the latter observer in terms of the ability of estimating the damper force in real-time despite the nonlinearity, the measurement noises and the road disturbances.
Thanh-Phong Pham; Olivier Sename; Luc Dugard. Comparative study of three robust observers for automotive damper force estimation. IOP Conference Series: Materials Science and Engineering 2019, 707, 012014 .
AMA StyleThanh-Phong Pham, Olivier Sename, Luc Dugard. Comparative study of three robust observers for automotive damper force estimation. IOP Conference Series: Materials Science and Engineering. 2019; 707 (1):012014.
Chicago/Turabian StyleThanh-Phong Pham; Olivier Sename; Luc Dugard. 2019. "Comparative study of three robust observers for automotive damper force estimation." IOP Conference Series: Materials Science and Engineering 707, no. 1: 012014.
This paper presents an LPV damping force observer of Electro Rheological (ER) dampers for a real automotive suspension system, taking the dynamic characteristic of damper into account. First, an extended nonlinear quarter-car model is considered, where the time constant representing the damper dynamics is varying according to the control level. This is rewritten as an LPV model which is used to design an LPV observer. The objective of the LPV observer is to minimize the effects of bounded unknown input disturbances (unknown road profile and measurement noises) on the state estimation errors through an H∞ criterion, while the damper nonlinearity is bounded using a Lipschitz condition. Two low-cost accelerometers (the sprung mass and the unsprung mass accelerations) are used as inputs for the proposed methodology only. To experimentally assess the proposed approach, the observer is implemented on the 1/5-scaled real vehicle-INOVE testbench of GIPSA-lab. Experiments shows the ability of the observer to estimate the damper force in real-time, face to unknown inputs disturbance and sensor noises.
Thanh-Phong Pham; Olivier Sename; Luc Dugard; Van Tan Vu. LPV Force Observer Design and Experimental Validation from a Dynamical Semi-Active ER Damper Model. IFAC-PapersOnLine 2019, 52, 60 -65.
AMA StyleThanh-Phong Pham, Olivier Sename, Luc Dugard, Van Tan Vu. LPV Force Observer Design and Experimental Validation from a Dynamical Semi-Active ER Damper Model. IFAC-PapersOnLine. 2019; 52 (17):60-65.
Chicago/Turabian StyleThanh-Phong Pham; Olivier Sename; Luc Dugard; Van Tan Vu. 2019. "LPV Force Observer Design and Experimental Validation from a Dynamical Semi-Active ER Damper Model." IFAC-PapersOnLine 52, no. 17: 60-65.
The design of State-Feedback Fault Tolerant control for Semi-Active Suspension Systems is considered in this work, that exploits diverse simple-to-implement approaches. The suspension damper is assumed to undergo multiplicative (time-varying) faults, that can be estimated by (four) modular fault estimation observers. With these fault estimations, active fault tolerant control (FTC) schemes can be synthesized, based on the reconfiguration of nominal State-Feedback policies. Seven approaches are discussed: i) Direct fault compensation; ii) Pole placement compensation; iii) Fault-dependent pole placement; iv) Linear-fault-dependent Linear Quadratic Regulator (LQR) design; v) Polynomially-fault-dependent LQR parameters; vi) LQR with Fault-dependent controlled outputs; vii) Heuristic (vehicle-oriented) fault-dependent LQR synthesis. The performances of these methods are analysed and compared through realistic and high-fidelity simulations. Results show the overall good operation of the latter approaches to compensate fault events and maintain performances.
Marcelo Menezes Morato; Olivier Sename; Luc Dugard. Design and Analysis of Several State-Feedback Fault-Tolerant Control Strategies for Semi-Active Suspensions. IFAC-PapersOnLine 2019, 52, 48 -53.
AMA StyleMarcelo Menezes Morato, Olivier Sename, Luc Dugard. Design and Analysis of Several State-Feedback Fault-Tolerant Control Strategies for Semi-Active Suspensions. IFAC-PapersOnLine. 2019; 52 (17):48-53.
Chicago/Turabian StyleMarcelo Menezes Morato; Olivier Sename; Luc Dugard. 2019. "Design and Analysis of Several State-Feedback Fault-Tolerant Control Strategies for Semi-Active Suspensions." IFAC-PapersOnLine 52, no. 17: 48-53.
The active braking control system is an active safety system designed to prevent accidents and to stabilize dynamic manoeuvers of a vehicle by generating an artificial yaw moment using differential braking forces. In this paper, the yaw-roll model of a single unit heavy vehicle is used for studying the active braking system by using the longitudinal braking force at each wheel. The grid-based LPV approach is used to synthesize the H∞/LPV controller by considering the parameter dependant weighting function for the lateral acceleration. The braking monitor designs are proposed to allow the active braking system to react when the normalized load transfer at the rear axle reaches the criteria of rollover ±1. The simulation results indicate that the active braking system satisfies the adaptation of vehicle rollover in an emergency situation, with low braking forces and improved handling performance of the vehicle.
Van Tan Vu; Olivier Sename; Luc Dugard; Peter Gaspar. The Design of an H∞/LPV Active Braking Control to Improve Vehicle Roll Stability. IFAC-PapersOnLine 2019, 52, 54 -59.
AMA StyleVan Tan Vu, Olivier Sename, Luc Dugard, Peter Gaspar. The Design of an H∞/LPV Active Braking Control to Improve Vehicle Roll Stability. IFAC-PapersOnLine. 2019; 52 (17):54-59.
Chicago/Turabian StyleVan Tan Vu; Olivier Sename; Luc Dugard; Peter Gaspar. 2019. "The Design of an H∞/LPV Active Braking Control to Improve Vehicle Roll Stability." IFAC-PapersOnLine 52, no. 17: 54-59.
In this paper, a model predictive control (MPC) scheme is developed and experimentally validated for control of a quarter car system equipped with semi-active (SA) suspension system, which is stationed on the INOVE test platform. The work can be described in two folds which are a) parametric modelling of Electro-Rheological (ER) damper based SA suspension system (ER-SA) and b) implementation of MPC with discretized set of inputs, which in this case are the set of duty cycle (DC) dependent pulse width modulation (PWM) signals that operates the ER-SA suspension system. In the former work, a phenomenological parametric damper model is utilized to describe the ER damper’s dynamic input/output characteristics by virtue of non-linear least squares (NLS) data fitting method. The latter method utilizes this model into the MPC framework for control of the quarter car system. The MPC controller was practically implemented on the INOVE test platform and results display better performance of the MPC controller in comparison with passive damping and modified Skyhook controller.
Karthik Murali Madhavan Rathai; Mazen Alamir; Olivier Sename. Experimental Implementation of Model Predictive Control Scheme for Control of Semi-active Suspension System. IFAC-PapersOnLine 2019, 52, 261 -266.
AMA StyleKarthik Murali Madhavan Rathai, Mazen Alamir, Olivier Sename. Experimental Implementation of Model Predictive Control Scheme for Control of Semi-active Suspension System. IFAC-PapersOnLine. 2019; 52 (5):261-266.
Chicago/Turabian StyleKarthik Murali Madhavan Rathai; Mazen Alamir; Olivier Sename. 2019. "Experimental Implementation of Model Predictive Control Scheme for Control of Semi-active Suspension System." IFAC-PapersOnLine 52, no. 5: 261-266.
The real-time estimation of damper force is crucial for control and diagnosis of suspension systems in road vehicles. In this study, we consider a semi-active electrorheological (ER) suspension system. First, a nonlinear quarter-car model is proposed that takes the nonlinear and dynamical characteristics of the semi-active damper into account. The estimation of the damper force is developed through an H∞ observer whose objectives are to minimize the effects of bounded unknown road profile disturbances and measurement noises on the estimation errors of the state variables and nonlinearity through a Lipschitz assumption. The considered measured variables, used as inputs for the observer design, are the two accelerometers data from the sprung mass and the unsprung mass of the quarter-car system, respectively. Finally, the observer performances are assessed experimentally using the INOVE platform from GIPSA-lab (1/5-scaled real vehicle). Both simulation and experimental results emphasize the robustness of the estimation method against measurement noises and road disturbances, showing the effectiveness in the ability of estimating the damper force in real-time.
Thanh-Phong Pham; Olivier Sename; Luc Dugard. Design and Experimental Validation of an H∞ Observer for Vehicle Damper Force Estimation. IFAC-PapersOnLine 2019, 52, 673 -678.
AMA StyleThanh-Phong Pham, Olivier Sename, Luc Dugard. Design and Experimental Validation of an H∞ Observer for Vehicle Damper Force Estimation. IFAC-PapersOnLine. 2019; 52 (5):673-678.
Chicago/Turabian StyleThanh-Phong Pham; Olivier Sename; Luc Dugard. 2019. "Design and Experimental Validation of an H∞ Observer for Vehicle Damper Force Estimation." IFAC-PapersOnLine 52, no. 5: 673-678.