Robust Control, State Estimation and Disturbance Compensation for Highly Dynamic Environmental Mechatronic Systems

Deliverables

Documents, reports (2)

The 2nd year dissemination report

Intermediate report about the actual dissemination results of the project.

The 1st year dissemination report

Intermediate report about the actual dissemination results of the project.

Websites, patent fillings, videos etc. (1)

CLOVER web-site

Internet-portal of the project. Web-site should include both the public information and the data only for the project consortium.

Publications

Conference proceedings (33)

Impulse-based hybrid motion control

Author(s): Michael Ruderman
Published in: IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017, Page(s) 4049-4054
DOI: 10.1109/iecon.2017.8216694

Full- and reduced-order model of hydraulic cylinder for motion control

Author(s): Michael Ruderman
Published in: IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017, Page(s) 7275-7280
DOI: 10.1109/iecon.2017.8217274

Interdisciplinary design methodology for systems of mechatronic systems focus on highly dynamic environmental applications

Author(s): Valentin Ivanov, Michael Ruderman, Johannes Schiffer, Martin Horn
Published in: IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017, Page(s) 4062-4067
DOI: 10.1109/iecon.2017.8216696

Lyapunov-stability for the sliding-mode control of a turbocharger subject to state constraints

Author(s): Jan Schreibeis, Kai Wulff, Johann Reger, Jaime A. Moreno
Published in: IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017, Page(s) 4068-4073
DOI: 10.1109/iecon.2017.8216697

Robust control of the boost-pressure of a turbocharger subject to model uncertainty and disturbances

Author(s): Tobias Posielek, Kai Wulff, Johann Reger
Published in: 2017 11th Asian Control Conference (ASCC), 2017, Page(s) 1170-1175
DOI: 10.1109/ascc.2017.8287336

Fractional-order observer for integer-order LTI systems

Author(s): Christoph Weise, Kai Wulff, Johann Reger
Published in: 2017 11th Asian Control Conference (ASCC), 2017, Page(s) 2101-2106
DOI: 10.1109/ascc.2017.8287499

On structural approaches to H<inf>∞</inf> observer design

Author(s): Daipeng Zhang, Johann Reger
Published in: 2017 11th Asian Control Conference (ASCC), 2017, Page(s) 2113-2118
DOI: 10.1109/ascc.2017.8287501

Feedforward Control for Non-Minimumphase Local Model Networks Using Model Following Control

Author(s): Julian Willkomm, Kai Wulff, Johann Reger
Published in: 2018 IEEE Conference on Control Technology and Applications (CCTA), 2018, Page(s) 1577-1582
DOI: 10.1109/ccta.2018.8511378

Shaft Torque and Backlash Estimation for Longitudinal Motion Control of All-Wheel-Drive Vehicles

Author(s): Fabian Walz, Tobias Schucht, Johann Reger, Soren Hohmann
Published in: 2018 IEEE Conference on Control Technology and Applications (CCTA), 2018, Page(s) 1434-1440
DOI: 10.1109/ccta.2018.8511096

Offset and Misalignment Estimation for the Online Calibration of an MEMS-IMU Using FIR-Filter Modulating Functions

Author(s): Felix Huttner, Jens Kalkkuhl, Johann Reger
Published in: 2018 IEEE Conference on Control Technology and Applications (CCTA), 2018, Page(s) 1427-1433
DOI: 10.1109/ccta.2018.8511091

Observer with Improved Convergence for a Class of Initialized FO-LTI Systems

Author(s): Christoph Weise, Kai Wulff, Johann Reger
Published in: 2018 IEEE Conference on Control Technology and Applications (CCTA), 2018, Page(s) 1570-1576
DOI: 10.1109/ccta.2018.8511326

<tex>$\mathcal{H}_{\infty}$</tex> Optimal Parameters for the Super-Twisting Algorithm with Intermediate Disturbance Bound Mismatch

Author(s): Daipeng Zhang, Johann Reger
Published in: 2018 15th International Workshop on Variable Structure Systems (VSS), Issue https://www.researchgate.net/publication/326318550_H-infinity_Optimal_Parameters_for_the_Super-Twisting_Algorithm_with_Intermediate_Disturbance_Bound_Mismatch, 2018, Page(s) 303-308
DOI: 10.1109/vss.2018.8460421

Use of second-order sliding mode observer for low-accuracy sensing in hydraulic machines

Author(s): Michael Ruderman, Leonid Fridman
Published in: 2018 15th International Workshop on Variable Structure Systems (VSS), 2018, Page(s) 315-318
DOI: 10.1109/vss.2018.8460227

Disturbance decoupling using a novel approach to integral sliding-mode

Author(s): Tobias Posielek, Kai Wulff, Johann Reger
Published in: 2018 15th International Workshop on Variable Structure Systems (VSS), 2018, Page(s) 420-426
DOI: 10.1109/vss.2018.8460323

Application of Higher-Order Sliding-Modes to a Ball and Plate System

Author(s): Alexander Barth, Christoph Weise, Johann Reger
Published in: 2018 15th International Workshop on Variable Structure Systems (VSS), 2018, Page(s) 192-197
DOI: 10.1109/vss.2018.8460469

Minimal-model for robust control design of large-scale hydraulic machines

Author(s): Michael Ruderman
Published in: 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC), 2018, Page(s) 397-401
DOI: 10.1109/amc.2019.8371125

Piecewise affine (PWA) modeling and switched damping control of two-inertia systems with backlash

Author(s): Shota Yamada, Michael Ruderman, Hiroshi Fujimoto
Published in: 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC), 2018, Page(s) 479-484
DOI: 10.1109/amc.2019.8371140

Linearized Piecewise Affine in Control and States Hydraulic System: Modeling and Identification

Author(s): Philipp Pasolli, Michael Ruderman
Published in: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018, Page(s) 4537-4544
DOI: 10.1109/iecon.2018.8591572

Almost Global Synchronization in Radial Multi-Machine Power Systems

Author(s): Johannes Schiffer, Denis Efimov, Romeo Ortega
Published in: 2018 IEEE Conference on Decision and Control (CDC), 2018, Page(s) 800-805
DOI: 10.1109/cdc.2018.8619788

Conditions for Delay-Robust Consensus-Based Frequency Control in Power Systems with Second-Order Turbine-Governor Dynamics

Author(s): Sultan Alghamdi, Johannes Schiffer, Emilia Fridman
Published in: 2018 IEEE Conference on Decision and Control (CDC), 2018, Page(s) 786-793
DOI: 10.1109/cdc.2018.8619709

Distributed Secondary Frequency Control Design for Microgrids: Trading Off L<inf>2</inf>-Gain Performance and Communication Efforts under Time-Varying Delays

Author(s): Sultan Alghamdi, Johannes Schiffer, Emilia Fridman
Published in: 2018 European Control Conference (ECC), 2018, Page(s) 758-763
DOI: 10.23919/ecc.2018.8550506

A Consensus-Based Control Law for Accurate Frequency Restoration and Power Sharing in Microgrids in the Presence of Clock Drifts

Author(s): Ajay Krishna, Johannes Schiffer, Jorg Raisch
Published in: 2018 European Control Conference (ECC), 2018, Page(s) 2575-2580
DOI: 10.23919/ecc.2018.8550191

Ride Blending Control for Electric Vehicles

Author(s): Valentin Ivanov, Miguel Dhaens, Vincenzo Ricciardi, Dzmitry Savitski, Klaus Augsburg
Published in: The 31st International Electric Vehicles Symposium & Exhibition (EVS 31), 2018

The Robust Exact Differentiator Toolbox: Improved Discrete-Time Realization

Author(s): M. Reichhartinger, S. Koch, H. Niederwieser, S.K. Spurgeon
Published in: 2018 15th International Workshop on Variable Structure Systems (VSS), 2018, Page(s) 1-6
DOI: 10.1109/vss.2018.8460388

Saturated Continuous Twisting Algorithm

Author(s): M. A. Golkani, L. M. Fridman, S. Koch, M. Reichhartinger, M. Horn
Published in: 2018 15th International Workshop on Variable Structure Systems (VSS), 2018, Page(s) 138-143
DOI: 10.1109/vss.2018.8460449

Robust State Estimation for Linear Time Varying Lateral Vehicle Dynamics with Unknown Road Curvature

Author(s): Markus Tranninger, Martin Steinberger, Leonid Fridman, Martin Horn, Sergiy Zhuk
Published in: 2018 15th International Workshop on Variable Structure Systems (VSS), 2018, Page(s) 384-389
DOI: 10.1109/vss.2018.8460385

Discrete-Time Equivalent Homogeneous Differentiators

Author(s): Stefan Koch, Markus Reichhartinger
Published in: 2018 15th International Workshop on Variable Structure Systems (VSS), 2018, Page(s) 354-359
DOI: 10.1109/vss.2018.8460284

Examples of actuator uncertainties in environmental systems of mechatronic systems (SoMS)

Author(s): M. Ruderman, H. Fujimoto, S. Yamada, V. Ivanov
Published in: IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Issue annual, 2017

On Energy Harvesting Using Piezoelectric Transducer with Two-Port Model Under Force Excitation

Author(s): Rafael Tavares, Michael Ruderman
Published in: 2019 IEEE International Conference on Mechatronics (ICM), 2019, Page(s) 414-419
DOI: 10.1109/icmech.2019.8722871

Hybrid State Feedback Position-Force Control of Hydraulic Cylinder

Author(s): Philipp Pasolli, Michael Ruderman
Published in: 2019 IEEE International Conference on Mechatronics (ICM), 2019, Page(s) 54-59
DOI: 10.1109/icmech.2019.8722829

On Switching between Motion and Force Control

Author(s): Michael Ruderman
Published in: 2019 27th Mediterranean Conference on Control and Automation (MED), 2019, Page(s) 445-450
DOI: 10.1109/med.2019.8798545

A consensus-based voltage control for reactive power sharing and PCC voltage regulation in microgrids with parallel-connected inverters

Author(s): Ajay Krishna, Johannes Schiffer, Nima Monshizadeh, Jorg Raisch
Published in: 2019 18th European Control Conference (ECC), 2019, Page(s) 542-547
DOI: 10.23919/ecc.2019.8795924

Finite-Time Estimation of Time-Varying Frequency Signals in Low-Inertia Power Systems

Author(s): Juan G. Rueda-Escobedo, Jaime A. Moreno, Johannes Schiffer
Published in: 2019 18th European Control Conference (ECC), 2019, Page(s) 2108-2114
DOI: 10.23919/ecc.2019.8795926

Peer reviewed articles (20)

A Tool for Stability and Power-Sharing Analysis of a Generalized Class of Droop Controllers for High-Voltage Direct-Current Transmission Systems

Author(s): Daniele Zonetti, Romeo Ortega, Johannes Schiffer
Published in: IEEE Transactions on Control of Network Systems, Issue 5/3, 2018, Page(s) 1110-1119, ISSN 2325-5870
DOI: 10.1109/tcns.2017.2687080

Conditions for Almost Global Attractivity of a Synchronous Generator Connected to an Infinite Bus

Author(s): Nikita Barabanov, Johannes Schiffer, Romeo Ortega, Denis Efimov
Published in: IEEE Transactions on Automatic Control, Issue 62/10, 2017, Page(s) 4905-4916, ISSN 0018-9286
DOI: 10.1109/tac.2017.2671026

Input Matrix Factorizations for Constrained Control Allocation

Author(s): Martin Kirchengast, Martin Steinberger, Martin Horn
Published in: IEEE Transactions on Automatic Control, Issue 63/4, 2018, Page(s) 1163-1170, ISSN 0018-9286
DOI: 10.1109/tac.2017.2739648

Algebraic IDA-PBC for Polynomial Systems with Input Saturation: An SOS-based Approach

Author(s): Oscar Cieza, Johann Reger
Published in: Revista Politécnica, Issue 42/2, 2019, Page(s) 23-30, ISSN 2477-8990
DOI: 10.33333/rp.vol42n2.1016

Relaxing the conditions of ISS for multistable periodic systems

Author(s): Denis Efimov, Johannes Schiffer, Nikita Barabanov, Romeo Ortega
Published in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 7217-7222, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2017.08.1365

Indirect Adaptive Control for Higher Order Sliding Mode

Author(s): Alexander Barth, Johann Reger, Jaime A. Moreno
Published in: IFAC-PapersOnLine, Issue 51/13, 2018, Page(s) 591-596, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2018.07.344

IDA-PBC for Polynomial Systems: An SOS-based Approach

Author(s): Oscar B. Cieza, Johann Reger
Published in: IFAC-PapersOnLine, Issue 51/13, 2018, Page(s) 366-371, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2018.07.306

A novel saturated super-twisting algorithm

Author(s): Mohammad Ali Golkani, Stefan Koch, Markus Reichhartinger, Martin Horn
Published in: Systems & Control Letters, Issue 119, 2018, Page(s) 52-56, ISSN 0167-6911
DOI: 10.1016/j.sysconle.2018.07.001

Modelling, analysis and experimental validation of clock drift effects in low-inertia power systems

Author(s): Johannes Schiffer, Christian A. Hans, Thomas Kral, Romeo Ortega, Jorg Raisch
Published in: IEEE Transactions on Industrial Electronics, 2016, Page(s) 1-1, ISSN 0278-0046
DOI: 10.1109/TIE.2016.2638805

Robustness of distributed averaging control in power systems: Time delays & dynamic communication topology

Author(s): Johannes Schiffer, Florian Dörfler, Emilia Fridman
Published in: Automatica, Issue 80, 2017, Page(s) 261-271, ISSN 0005-1098
DOI: 10.1016/j.automatica.2017.02.040

On break-away forces in actuated motion systems with nonlinear friction

Author(s): Michael Ruderman
Published in: Mechatronics, Issue 44, 2017, Page(s) 1-5, ISSN 0957-4158
DOI: 10.1016/j.mechatronics.2017.03.007

Ride Blending Control for Electric Vehicles

Author(s): Vincenzo Ricciardi, Valentin Ivanov, Miguel Dhaens, Bert Vandersmissen, Marc Geraerts, Dzmitry Savitski, Klaus Augsburg
Published in: World Electric Vehicle Journal, Issue 10/2, 2019, Page(s) 36, ISSN 2032-6653
DOI: 10.3390/wevj10020036

Modeling of an active torsion bar automotive suspension for ride comfort and energy analysis in standard road profiles

Author(s): Rafael Tavares, Joan Vazquez Molina, Monzer Al Sakka, Miguel Dhaens, Michael Ruderman
Published in: IFAC-PapersOnLine, Issue 52/15, 2019, Page(s) 181-186, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2019.11.671

Relay Feedback Systems — Established Approaches and New Perspectives for Application

Author(s): Michael Ruderman
Published in: IEEJ Journal of Industry Applications, Issue 8/2, 2019, Page(s) 271-278, ISSN 2187-1094
DOI: 10.1541/ieejjia.8.271

Discrete-Time Super Twisting Controller for Networked Control Systems

Author(s): Jakob Ludwiger, Markus Reichhartinger, Martin Steinberger, Martin Horn
Published in: IFAC-PapersOnLine, Issue 52/16, 2019, Page(s) 789-794, ISSN 2405-8963
DOI: 10.1016/j.ifacol.2019.12.059

Backlash Identification in Two-Mass Systems by Delayed Relay Feedback

Author(s): Michael Ruderman, Shota Yamada, Hiroshi Fujimoto
Published in: Journal of Dynamic Systems, Measurement, and Control, Issue 141/6, 2019, ISSN 0022-0434
DOI: 10.1115/1.4042672

Wheel Slip Control for the Electric Vehicle with In-Wheel Motors: Variable Structure and Sliding Mode Methods

Author(s): Dzmitry Savitski, Valentin Ivanov, Klaus Augsburg, Tomoki Emmei, Hiroyuki Fuse, Hiroshi Fujimoto, Leonid Fridman
Published in: IEEE Transactions on Industrial Electronics, 2019, Page(s) 1-1, ISSN 0278-0046
DOI: 10.1109/tie.2019.2942537

Robust output tracking of constrained perturbed linear systems via model predictive sliding mode control

Author(s): M. Steinberger, I. Castillo, M. Horn, L. Fridman
Published in: International Journal of Robust and Nonlinear Control, 2019, ISSN 1049-8923
DOI: 10.1002/rnc.4826

Virtual sensing of load forces in hydraulic actuators using second- and higher-order sliding modes

Author(s): Michael Ruderman, Leonid Fridman, Philipp Pasolli
Published in: Control Engineering Practice, Issue 92, 2019, Page(s) 104151, ISSN 0967-0661
DOI: 10.1016/j.conengprac.2019.104151

Energy harvesting using piezoelectric transducers for suspension systems

Author(s): Rafael Tavares, Michael Ruderman
Published in: Mechatronics, Issue 65, 2020, Page(s) 102294, ISSN 0957-4158
DOI: 10.1016/j.mechatronics.2019.102294

Book chapters (1)

Indirect Adaptive Sliding-Mode Control Using the Certainty-Equivalence Principle

Author(s): Alexander Barth, Markus Reichhartinger, Kai Wulff, Johann Reger, Stefan Koch, Martin Horn
Published in: Advances in Variable Structure Systems and Sliding Mode Control—Theory and Applications, Issue 115, 2018, Page(s) 165-191
DOI: 10.1007/978-3-319-62896-7_7