The problem considered in this paper is the design and analysis of a control strategy, for semi-active suspensions road vehicles, based on model-predictive (MPC) techniques. optimal law we compute using predictive techniques, aims to optimize suspension performances by minimizing quadratic cost function, while ensuring that magnitude forces generated satisfies physical constraints passive damping. online computation difficulties related predictive-control are overcome means "fast"...

This paper presents simulation and experimental results regarding a new class of wind energy generators, denoted as KiteGen, which employ power kites to capture high altitude power. A realistic kite model, includes the aerodynamic characteristics effects line weight drag forces, is used describe system dynamics. Nonlinear model predictive control techniques, together with an efficient implementation based on set membership function approximation theory, are employed maximize obtained by...

The problem of vehicle yaw control is addressed in this paper using an active differential and rate feedback. A reference generator, designed to improve handling, provides the desired value be achieved by closed loop controller. latter second-order sliding mode (SOSM) methodology guarantee robust stability front disturbances model uncertainties, which are typical automotive context. feedforward contribution also employed enhance transient system response. derivative constructed as a...

To overcome the limitations of current wind power technology, KiteGen project was initiated at Politecnico di Torino, Italy, to design and build a new class energy generators in collaboration with Sequoia Automation, Modelway, Centro Studi Industriali. The focus is capture by means controlled tethered airfoils, that is, kites. has designed simulated small-scale prototype. two kite lines are rolled around drums linked electric drives, which fixed ground. flight regulating pulling force on...

SUMMARY A new approach to design a Nonlinear Model Predictive Control law that employs an approximate model, derived directly from data, is introduced. The main advantage of using such models lies in the possibility obtain finite computable bound on worst‐case model error. Such can be exploited analyze robust convergence system trajectories neighborhood origin. effectiveness proposed approach, named Set Membership Control, shown vehicle lateral stability control problem, through numerical...

In this paper, the problem of vehicle yaw control using a rear active differential is investigated. The proposed structure employs reference generator designed to improve handling, feedforward contribution that enhances transient system response, and feedback controller. Due uncertainties wide range operating situations, which are typical automotive context, robust technique needed guarantee stability. Two different controllers, based on internal model sliding mode methodologies,...

In this paper, a semi-active suspension Model Predictive Control (MPC) is designed for full vehicle system equipped with 4 dampers. The main challenge in the control problem to tackle dissipativity constraints of are here recasted as input and state constraints. controller MPC framework where effects unknown road disturbances taken into account. An observer approach allows estimate disturbance information be used by during prediction step. Then, law estimation (but without preview) computed...

The paper investigates the control of tethered airfoils in order to devise a new class wind generators able overcome main limitations present aeolian technology based on mills. A model taken from literature is used simulate dynamic kite which can be controlled by suitably pulling two lines. Energy generated cycle composed phases, indicated as traction and recovery one. unit has electric drives act motors lines for controlling flight or recovering if pulls In each phase, obtained "fast"...

A robust nonparametric approach to vehicle stability control by means of a four-wheel steer wire system is introduced. Both yaw rate and sideslip angle feedbacks are used in order effectively take into account safety as well handling performances. Reference courses for computed on the basis speed handwheel imposed driver. An output multiplicative model set describe uncertainty arising from wide range operating situations. The effects saturation variables (i.e. front rear steering angles)...

A model predictive control approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. In particular, the use nonlinear controllers investigated show their effectiveness in stability context. order allow online implementation designed law, fast technique based on set membership approximation methodologies using nearest point adopted. Enhancements demanding conditions such as ¿-split braking and damping properties impulsive maneuvers are shown through...

This note deals with the problem of fast implementation nonlinear model predictive control using approximated laws. At first, accuracy properties a generic controller κ̂ are introduced together their influence on closed loop stability and performance. Then, exploiting such results, it is shown how Set Membership (SM) function approximation theory can be systematically employed to improve performance κ̂. The resulting controller, given by sum SM approximating function, satisfies...

A comparison between two different approaches to vehicle stability control is carried out, employing a robust non-parametric technique in the controller design. In particular, an enhanced internal model strategy, together with feedforward action and suitably generated reference map, employed for of equipped either rear wheel steering (RWS) system or active differential (RAD) device. The uncertainty arising from wide range operating conditions described by additive set Extensive steady state...

The paper investigates the control of tethered airfoils in order to devise a new class wind generators, indicated as KiteGen, able overcome main limitations present aeolian technology based on mills. A model taken from literature is used simulate dynamic kite whose lines are suitably pulled by unit. Energy generated cycle composed two phases, traction and drag one. unit placed arm vertical axis rotor, which connected an electric drive act generator when pull rotor motor dragging against...

The design of linear virtual sensors to estimate yaw rate for vehicle stability control systems is investigated. Standard model-based sensor techniques are compared novel direct (DVS) methodologies. obtained DVS stable and it can be used in a large range operating conditions. It shown how the use derived directly from data suitable choice measured variables improves estimation accuracy. effectiveness proposed demonstrated by its employment an existing feedback loop, based on active front...

SUMMARY A set membership method for right inversion of nonlinear systems from data is proposed in the paper. Both cases where system to invert known or unknown and therefore identified are addressed. The does not require invertibility regression function describing ensures tight bounds on error. In case system, allows derivation a robust right‐inverse, guaranteeing error bound all belonging uncertainty which can be defined available prior experimental information. Based such inversion, two...

This paper presents an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both theoretical and practical aspects of Model Predictive Control theory. The case a two-wheeled inverted pendulum is considered as at-size scenario. For such system, starting from its mathematical modeling, established design methodology presented aiming step-by-step predictive controller implementation low-power architecture. effectiveness this multidisciplinary approach...