Hybrid modeling and control of mechatronic systems using a piecewise affine dynamics approach
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Original versionPasolli, P. (2020). Hybrid modeling and control of mechatronic systems using a piecewise affine dynamics approach (Doctoral thesis). University of Agder, Kristiansand.
This thesis investigates the topic of modeling and control of PWA systems based on two experimental cases of an electrical and hydraulic nature with varying complexity that were also built, instrumented and evaluated. A full-order model has been created for both systems, including all dominant system dynamics and non-linearities. The unknown parameters and characteristics have been identi ed via an extensive parameter identi cation. In the following, the non-linear characteristics are linearized at several points, resulting in PWA models for each respective setup. Regarding the closed loop control of the generated models and corresponding experimental setups, a linear control structure comprised of integral error, feed-forward and state-feedback control has been used. Additionally, the hydraulic setup has been controlled in an autonomous hybrid position/force control mode, resulting in a switched system with each mode's dynamics being de ned by the previously derived PWA-based model in combination with the control structure and respective mode-dependent controller gains. The autonomous switch between control modes has been de ned by a switching event capable of consistently switching between modes in a deterministic manner despite the noise-a icted measurements. Several methods were used to obtain suitable controller gains, including optimization routines and pole placement. Validation of the system's fast and accurate response was obtained through simulations and experimental evaluation. The controlled system's local stability was proven for regions in state-space associated with operational points by using pole-zero analysis. The stability of the hybrid control approach was proven by using multiple Lyapunov functions for the investigated test scenarios.
Has partsPaper I: Pasolli, P. & Ruderman, M. (2018). Design and Analysis of non-linear Circuit with Tunnel Diode for Hybrid Control Systems. In 2018 IEEE 15th International Workshop on Advanced Motion Control, 181-186. doi: 10.1109/AMC.2019.8371084. Accepted manuscript. Full-text is not available in AURA as a separate file.
Paper II: Pasolli, P. & Ruderman, M. (2018). Design, Control, and Analysis of Nonlinear Circuits with Tunnel Diode with Piecewise Affine Dynamics. IEEE Journal of Industry Applications, 8(2), 240-249. doi: 10.1541/ieejjia.8.240. Accepted manuscript. Full-text is not available in AURA as a separate file.
Paper III: Pasolli, P. & Ruderman, M. (2018). Linearized Piecewise Affine in Control and States Hydraulic System: Modeling and Identification. In IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 4537-4544. doi: 10.1109/IECON.2018.8591572. Accepted manuscript. Full-text is not available in AURA as a separate file.
Paper IV: Pasolli, P. & Ruderman, M. (2019). Hybrid State Feedback Position-Force Control of Hydraulic Cylinder. In 2019 IEEE International Conference on Mechatronics, 1, 54-59. doi: 10.1109/ICMECH.2019.8722829. Accepted manuscript. Full-text is not available in AURA as a separate file.
Paper V: Pasolli, P. & Ruderman, M. (Forthcoming). Hybrid Position/Force Control for Hydraulic Actuators. Submitted to IEEE Transactions on Industrial Electronics. Manuscript. Full-text is not available in AURA as a separate file.
Paper VI: Ruderman, M., Fridman, L. & Pasolli, P. (2019). Virtual sensing of load forces in hydraulic actuators using second- and higher-order sliding modes, 92: 104151. Accepted manuscript. Full-text is not available in AURA as a separate file.