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Gerardo Amato
Department of Electronic Engineering, University of Rome Tor Vergata, Via del Politecnico, 00133 Rome, Italy

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Short Biography

Gerardo Amato was born in Salerno, Italy, in 1992. He obtained BS degree in Electronic Engineering, in 2015, and MS degree in Electronic Engineering for Industry, in 2018, from University of Rome Tor Vergata, where he currently attends a PhD fellow in Electronic Engineering, address “Sensory and Learning Systems”, with the Electronic Engineering Department. His research activity concerns automotive, mechatronics, robust industrial controls, nonlinear systems and adaptive noise cancellation control.

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Journal article
Published: 10 July 2021 in Actuators
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Controllability, maneuverability, fault-tolerance/isolation and safety are significantly enhanced in electric vehicles (EV) equipped with the redundant actuator configuration of four-in-wheel electric motors (4IWM). A highly reconfigurable architecture is proposed and illustrated for the adaptive, nonmodel-based control of 4IWM-EVs. Given the longitudinal force, yaw-moment requests and the reconfiguration matrix, each IWM is given a slip reference according to a Slip Vectoring (SV) allocation strategy, which minimizes the overall slip vector norm. The distributed electric propulsion and the slip vector reference allow for a decentralized online estimation of the four-wheel torque-loads, which are uncertain depending on loading and road conditions. This allows for the allocation of four different torques depending on individual wheel conditions and to determine in which region (linear/nonsaturated or nonlinear/saturated) of the torque/slip characteristics each wheel is operating. Consequently, the 4IWMs can be equalized or reconfigured, including actuator fault-isolation as a special case, so that they are enforced to operate within the linear tire region. The initial driving-mode selection can be automatically adjusted and restored among eighteen configurations to meet the safety requirements of linear torque/slip behavior. Three CarSim realistic simulations illustrate the equalization algorithm, the quick fault-isolation capabilities and the importance of a continuous differential action in a critical double-lane-change maneuver.

ACS Style

Gerardo Amato; Riccardo Marino. Reconfigurable Slip Vectoring Control in Four In-Wheel Drive Electric Vehicles. Actuators 2021, 10, 157 .

AMA Style

Gerardo Amato, Riccardo Marino. Reconfigurable Slip Vectoring Control in Four In-Wheel Drive Electric Vehicles. Actuators. 2021; 10 (7):157.

Chicago/Turabian Style

Gerardo Amato; Riccardo Marino. 2021. "Reconfigurable Slip Vectoring Control in Four In-Wheel Drive Electric Vehicles." Actuators 10, no. 7: 157.

Conference paper
Published: 01 September 2020 in 2020 28th Mediterranean Conference on Control and Automation (MED)
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A fault-tolerant feedback architecture is presented and simulated for chassis motion control of both longitudinal and lateral dynamics in Four In-Wheel Motors (4-IWMs) drive Electric Vehicles (EVs), in the presence of mechanical failures. The control architecture is capable of a quick Fault Detection and Isolation (FDI) by making a sensor fusion between the measured chassis-acceleration vector angle and its estimate determined by distributed torque loads estimation. The fault is isolated by comparing online left and right torque load estimates. The proposed architecture can switch smoothly from 4-IWMs to 2-IWMs configuration, by excluding the whole faulted axle to preserve the torque balancing.

ACS Style

Gerardo Amato; Riccardo Marino. Fault-Tolerant Distributed and Switchable PI Slip Control Architecture in Four In-Wheel Motor Drive Electric Vehicles. 2020 28th Mediterranean Conference on Control and Automation (MED) 2020, 7 -12.

AMA Style

Gerardo Amato, Riccardo Marino. Fault-Tolerant Distributed and Switchable PI Slip Control Architecture in Four In-Wheel Motor Drive Electric Vehicles. 2020 28th Mediterranean Conference on Control and Automation (MED). 2020; ():7-12.

Chicago/Turabian Style

Gerardo Amato; Riccardo Marino. 2020. "Fault-Tolerant Distributed and Switchable PI Slip Control Architecture in Four In-Wheel Motor Drive Electric Vehicles." 2020 28th Mediterranean Conference on Control and Automation (MED) , no. : 7-12.

Conference paper
Published: 01 December 2019 in 2019 IEEE 58th Conference on Decision and Control (CDC)
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An innovative hierarchical feedback architecture is proposed and simulated to control both the longitudinal and the lateral dynamics of Four In-Wheel Motors (4IWMs) drive electric vehicles. The Motion Planning Layer (MPL) generates the required vehicle longitudinal and lateral speeds and yaw- rate on the basis of the driver commands. The Motion Control Layer (MCL) generates saturated slip references for the 4IWMs so that slip constraints are met. The Actuator Control Layer (ACL) is responsible for distributed motor slip tracking and for online estimation of load torque for each tire. The key innovative feature is to operate a slip distributed control, so that slip tracking instead of torque tracking are implemented for the IWMs, which allows independent on line load torques estimation. An illustrative moose-test simulation is performed using CarSim models.

ACS Style

Gerardo Amato; Riccardo Marino. Distributed Nested PI Slip Control for Longitudinal and Lateral Motion in Four In-Wheel Motor Drive Electric Vehicles. 2019 IEEE 58th Conference on Decision and Control (CDC) 2019, 7609 -7614.

AMA Style

Gerardo Amato, Riccardo Marino. Distributed Nested PI Slip Control for Longitudinal and Lateral Motion in Four In-Wheel Motor Drive Electric Vehicles. 2019 IEEE 58th Conference on Decision and Control (CDC). 2019; ():7609-7614.

Chicago/Turabian Style

Gerardo Amato; Riccardo Marino. 2019. "Distributed Nested PI Slip Control for Longitudinal and Lateral Motion in Four In-Wheel Motor Drive Electric Vehicles." 2019 IEEE 58th Conference on Decision and Control (CDC) , no. : 7609-7614.

Conference paper
Published: 01 October 2019 in 2019 23rd International Conference on Mechatronics Technology (ICMT)
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In this work a frequency-dependent Adaptive Noise Cancellation-based Tracking Controller (ANC-TC), for the stabilization of trajectories of a flexible rotor in lubricated full journal bearings, is designed. Starting from the medialization of forces felt by rotor and journal bearings during rotation motion, a manual matrix solution of equations is developed.

ACS Style

Roberto D'Amato; Gerardo Amato; Alessandro Ruggiero. Adaptive Noise Cancellation-Based Tracking Control for a Flexible Rotor in Lubricated Journal Bearings. 2019 23rd International Conference on Mechatronics Technology (ICMT) 2019, 1 -5.

AMA Style

Roberto D'Amato, Gerardo Amato, Alessandro Ruggiero. Adaptive Noise Cancellation-Based Tracking Control for a Flexible Rotor in Lubricated Journal Bearings. 2019 23rd International Conference on Mechatronics Technology (ICMT). 2019; ():1-5.

Chicago/Turabian Style

Roberto D'Amato; Gerardo Amato; Alessandro Ruggiero. 2019. "Adaptive Noise Cancellation-Based Tracking Control for a Flexible Rotor in Lubricated Journal Bearings." 2019 23rd International Conference on Mechatronics Technology (ICMT) , no. : 1-5.