The works performed can be summarized as follows.
(i) Mechatronic control systems. An important output for this project topic is a set of control techniques for mechatronics systems on a global level (so called basic controllers), which are required for further implementation on environmental mechatronic systems. Other results concern new observation and estimation tools for highly dynamic variables. The target here is to increase estimation robustness and precision with consideration of uncertainties from different time domains (steady-state, short-term, long-term) that are characteristic for CLOVER application cases as electric vehicle chassis, smart grids, and vessels / offshore systems. These activities are supplemented with the development of adaptive algorithms for disturbance attenuation and decoupling.
(ii) Real-time ECU and Hardware Implementation. The consortium participants are being realized the real-time controllers for mechatronic applications as chassis systems of electric vehicles, grid-interconnection circuitry, and offshore systems. The relevant works are done for braking, steering and stability control of electric vehicle, for an antagonistic hydraulic actuators’ demonstrator as applied to offshore applications, and for an automotive radar sensor system.
(iii) Testing procedures. The works in this topic covered development of a Co-Simulation MIL and HIL platform for virtual testing and simulation of automotive ADAS systems, experimental procedures on all-wheel drive electric vehicle demonstrator for validation of a set of vehicle dynamics controllers.
(iv) Networking activities. A strong extensive experience sharing has been carried out for such research and technological areas as use of hardware-in-the-loop test rigs by designing SoMS, real-time programming for mechatronic systems, connecting DoE testing tool with model integration platforms, estimation of unknown parameters in Smart Grid applications, advanced sliding mode control, backlash modelling and identification. Several dissemination activities of the project have been realized with the help of Technical Committee “Motion Control” of IEEE Industrial Electronics Society through organization of dedicated CLOVER sessions on renowned events as IECON 2017 and 2018 as well as IEEE AMC Workshop 2018. In addition, CLOVER participants demonstrated and used the project results in running bilateral activities with national and international collaborators from academic and industrial sectors.
