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

Project Information

CLOVER

Grant agreement ID: 734832

DOI

10.3030/734832

Project closed

EC signature date 10 November 2016

Start date 1 January 2017

End date 30 June 2022

Funded under

• EXCELLENT SCIENCE - Marie Skłodowska-Curie Actions

Total cost

€ 769 500,00

EU contribution

€ 684 000,00

Coordinated by

TECHNISCHE UNIVERSITAET ILMENAU
Germany

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (5)

The 2nd year dissemination report

Intermediate report about the actual dissemination results of the project.

Final database of basic mechatronic controllers with open access

The selected final releases of software models of different configurations of basic mechatronic controllers developed by the consortium participants are collected and stored in the working area of the project webportal for the open access

The 1st year dissemination report

Intermediate report about the actual dissemination results of the project.

The 3rd year dissemination report

Intermediate report about the actual dissemination results of the project

The final dissemination report

Final report about results of the project dissemination

Other (1)

Test platforms

Test platform developed within Tasks 3.1 and 3.2 and uniting different mechatronic systems (both on ECU and hardware level) for the HIL testing.

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 (50)

Quantitative Robustness Analysis of Model Following Control for Nonlinear Systems Subject to Model Uncertainties

Author(s): J. Willkomm, K. Wulff, J. Reger
Published in: 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, 2021
Publisher: IFAC
DOI: 10.1016/j.ifacol.2021.10.347

Stability Analysis of a Linear Parameter Varying Adaptive Output Feedback Control System

Author(s): Markus Tranninger, Michael Ruderman
Published in: 4th IFAC Workshop on Linear Parameter-Varying Systems, 2021
Publisher: IFAC
DOI: 10.1016/j.ifacol.2021.08.582

Hybrid Position/Force Control for Hydraulic Actuators

Author(s): Philipp Pasolli; Michael Ruderman
Published in: 2020 28th Mediterranean Conference on Control and Automation, 2020
Publisher: IEEE
DOI: 10.1109/med48518.2020.9183305

Parameter preference for the continuous super-twisting-like algorithm based on H∞ norm analysis

Author(s): Daipeng Zhang, Jaime A. Moreno, Johann Reger
Published in: 21st IFAC World Congress, 2020
Publisher: IFAC
DOI: 10.1016/j.ifacol.2020.12.1157

MPC-based path following design for automated vehicles with rear wheel steering

Author(s): Chuanyang Yu; Yanggu Zheng; Barys Shyrokau; Valentin Ivanov
Published in: IEEE International Conference on Mechatronics (ICM), 2021
Publisher: IEEE
DOI: 10.1109/icm46511.2021.9385606

Pressure-flow dynamics with semi-stable limit cycles in hydraulic cylinder circuits

Author(s): Michael Ruderman; Stefan Kaltenbacher; Martin Horn
Published in: IEEE International Conference on Mechatronics, 2021
Publisher: IEEE
DOI: 10.1109/icm46511.2021.9385620

Modeling and field-experiments identification of vertical dynamics of vehicle with active anti-roll bar

Author(s): Rafael Tavares; Michael Ruderman; D. Menjoie; J. Vazquez Molina; Miguel Dhaens
Published in: IEEE 16th International Workshop on Advanced Motion Control, 2020
Publisher: IEEE
DOI: 10.1109/amc44022.2020.9244454

Analysis of sliding-mode control systems with unmatched disturbances altering the relative degree

Author(s): Tobias Posielek; Kai Wulff; Johann Reger
Published in: 2020
Publisher: IFAC
DOI: 10.1016/j.ifacol.2020.12.1149

Offline and Online Tyre Model Reconstruction by Locally Weighted Projection Regression

Author(s): Kunal Iyer; Barys Shyrokau; Valentin Ivanov
Published in: IEEE 16th International Workshop on Advanced Motion Control, 2020
Publisher: IEEE
DOI: 10.1109/amc44022.2020.9244310

Lead-Lag-Shaped Interactive Force Estimation by Equivalent Output Injection of Sliding-Mode

Author(s): Michael Ruderman
Published in: 2020 European Control Conference, 2020
Publisher: IFAC
DOI: 10.23919/ecc51009.2020.9143619

On stiffness and damping of vibro-impact dynamics of backlash

Author(s): Michael Ruderman
Published in: IEEE 30th International Symposium on Industrial Electronics, 2021
Publisher: IEEE
DOI: 10.1109/isie45552.2021.9576274

Frequency-domain experimental setup for mechatronic and suspension system components

Author(s): Rafael Tavares; Michael Ruderman
Published in: IEEE International Conference on Mechatronics, 2021
Publisher: IEEE
DOI: 10.1109/icm46511.2021.9385640

Optimal terminal sliding-mode control for second-order motion systems

Author(s): Ruderman, Michael
Published in: 60th IEEE Conference on Decision and Control, 2022, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683172

Explicit and Implicit IDA-PBC Design and Implementation for a Portal Crane

Author(s): Vidal, Enrique J.; Cieza, Oscar B.; Reger, Johann
Published in: 21st IFAC World Congress, 2020
Publisher: IFAC
DOI: 10.1016/j.ifacol.2020.12.1572

Adaptive Gain Super-Twisting-Algorithm: Design and Discretization

Author(s): Lukas Eisenzopf, Lars Watermann, Stefan Koch, Markus Reichhartinger, Johann Reger, Martin Horn
Published in: 60th IEEE Conference on Decision and Control,, 2022
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683304

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, ISBN 978-1-5386-1127-2
Publisher: IEEE
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, ISBN 978-1-5386-1127-2
Publisher: IEEE
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, ISBN 978-1-5386-1127-2
Publisher: IEEE
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, ISBN 978-1-5386-1127-2
Publisher: IEEE
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, ISBN 978-1-5090-1573-3
Publisher: IEEE
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, ISBN 978-1-5090-1573-3
Publisher: IEEE
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, ISBN 978-1-5090-1573-3
Publisher: IEEE
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, ISBN 978-1-5386-7698-1
Publisher: IEEE
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, ISBN 978-1-5386-7698-1
Publisher: IEEE
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, ISBN 978-1-5386-7698-1
Publisher: IEEE
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, ISBN 978-1-5386-7698-1
Publisher: IEEE
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, ISBN 978-1-5386-6439-1
Publisher: IEEE
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, ISBN 978-1-5386-6439-1
Publisher: IEEE
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, ISBN 978-1-5386-6439-1
Publisher: IEEE
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, ISBN 978-1-5386-6439-1
Publisher: IEEE
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, ISBN 978-1-5386-1946-9
Publisher: IEEE
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, ISBN 978-1-5386-1946-9
Publisher: IEEE
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, ISBN 978-1-5090-6684-1
Publisher: IEEE
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, ISBN 978-1-5386-1395-5
Publisher: IEEE
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, ISBN 978-1-5386-1395-5
Publisher: IEEE
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, ISBN 978-3-9524-2698-2
Publisher: IEEE
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, ISBN 978-3-9524-2698-2
Publisher: IEEE
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
Publisher: JSAE

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, ISBN 978-1-5386-6439-1
Publisher: IEEE
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, ISBN 978-1-5386-6439-1
Publisher: IEEE
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, ISBN 978-1-5386-6439-1
Publisher: IEEE
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, ISBN 978-1-5386-6439-1
Publisher: IEEE
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
Publisher: IEEJ

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, ISBN 978-1-5386-6959-4
Publisher: IEEE
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, ISBN 978-1-5386-6959-4
Publisher: IEEE
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, ISBN 978-1-7281-2803-0
Publisher: IEEE
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, ISBN 978-3-907144-00-8
Publisher: IEEE
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, ISBN 978-3-907144-00-8
Publisher: IEEE
DOI: 10.23919/ecc.2019.8795926

Energy Shaping and Partial Feedback Linearization of Mechanical Systems with Kinematic Constraints

Author(s): O. Cieza-Aguirre, J. Reger
Published in: 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2021
Publisher: IFAC
DOI: 10.1016/j.ifacol.2021.11.085

Dissipation in suspension system augmented by piezoelectric stack: port-Hamiltonian approach

Author(s): Rafael Tavares; Michael Ruderman
Published in: 28th Mediterranean Conference on Control and Automation, 2020
Publisher: IEEE
DOI: 10.1109/med48518.2020.9183317

Peer reviewed articles (29)

Survey on Wheel Slip Control Design Strategies, Evaluation and Application to Antilock Braking Systems

Author(s): Francesco Pretagostini; Laura Ferranti; Giovanni Berardo; Valentin Ivanov; Barys Shyrokau
Published in: IEEE Access, Issue 21693536, 2020, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2020.2965644

On the model-based design of front-to-total anti-roll moment distribution controllers for yaw rate tracking

Author(s): Marco Ricco; A. Percolla; G. Cardolini Rizzo; Mattia Zanchetta; Davide Tavernini; Miguel Dhaens; Marc Geraerts; Alessandro Vigliani; Antonio Tota; Aldo Sorniotti
Published in: Vehicle System Dynamics, Issue 00423114, 2020, ISSN 0042-3114
Publisher: Swets & Zeitlinger
DOI: 10.1080/00423114.2020.1825753

Higher order sliding mode inspired nonlinear discrete-time observer

Author(s): Maximilian Wetzlinger; Markus Reichhartinger; Martin Horn
Published in: Systems & Control Letters, Issue 01676911, 2021, ISSN 0167-6911
Publisher: Elsevier BV
DOI: 10.1016/j.sysconle.2021.104992

Preview-based techniques for vehicle suspension control: a state-of-the-art review

Author(s): Johan Theunissen, Antonio Tota, Patrick Gruber, Miguel Dhaens, Aldo Sorniotti
Published in: Annual Reviews in Control, Issue 13675788, 2021, ISSN 1367-5788
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.arcontrol.2021.03.010

Distributed Secondary Frequency Control in Microgrids: Robustness and Steady-State Performance in the Presence of Clock Drifts

Author(s): Ajay Krishna; Johannes Schiffer; Jörg Raisch; Jörg Raisch
Published in: European Journal of Control, Issue 11, 2020, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2019.08.003

On the Design of Yaw Rate Control via Variable Front-to-Total Anti-Roll Moment Distribution

Author(s): Marco Ricco, Mattia Zanchetta, Giovanni Cardolini Rizzo, Davide Tavernini, Aldo Sorniotti, Christoforos Chatzikomis, Mauro Velardocchia, Marc Geraerts, and Miguel Dhaens
Published in: IEEE Transactions on Vehicular Technology, Issue 00189545, 2019, ISSN 0018-9545
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tvt.2019.2955902

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
Publisher: IEEE CONTROL SYSTEMS SOCIETY
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
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2017.2671026

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
Publisher: Escuela Politécnica del Ejército
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
Publisher: Elsevier
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
Publisher: Elsevier
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
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2018.07.306

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
Publisher: Institute of Electrical and Electronics Engineers
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
Publisher: Pergamon Press Ltd.
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
Publisher: Pergamon Press Ltd.
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
Publisher: The World Electric Vehicle Association (WEVA)
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
Publisher: Elsevier
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
Publisher: The Institute of Electrical Engineers of Japan
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
Publisher: Elsevier
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
Publisher: ASME
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
Publisher: Institute of Electrical and Electronics Engineers
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
Publisher: John Wiley & Sons Inc.
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
Publisher: Pergamon Press Ltd.
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
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2019.102294

Application of a nonovershooting tracking control method for the Double Buck Converter

Author(s): Robert Schmid; Tony Srour; Johann Reger
Published in: IFAC-PapersOnLine, Issue 24058963, 2020, ISSN 2405-8963
Publisher: IFAC
DOI: 10.1016/j.ifacol.2020.12.1697

On the design of stable periodic orbits of a triple pendulum on a cart with experimental validation

Author(s): Benjamin Jahn; Lars Watermann; Johann Reger
Published in: Automatica, Issue 00051098, 2022, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2020.109403

Unknown input observer design for linear time-invariant multivariable systems based on a new observer normal form (Higher-order sliding mode observer design for linear time-invariant multivariable systems based on a new observer normal form)

Author(s): Helmut Niederwieser, Markus Tranninger, Richard Seeber, Markus Reichhartinger
Published in: International Journal of Systems Science, 2022, ISSN 0020-7721
Publisher: Taylor & Francis
DOI: 10.1080/00207721.2022.2046201

Spatially Distributed Networked Sliding Mode Control

Author(s): J. Ludwiger, M. Steinberger, M. Horn
Published in: IEEE Control Systems Letters, Issue 24751456, 2019, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2019.2919929

Model-Free Sliding-Mode-Based Detection and Estimation of Backlash in Drives With Single Encoder

Author(s): Michael Ruderman; Leonid Fridman
Published in: IEEE Transactions on Control Systems Technology, Issue 15580865, 2019, ISSN 1558-0865
Publisher: IFAC
DOI: 10.1109/tcst.2019.2956914

Other (3)

Higher-order sliding mode observer design for linear time-invariant multivariable systems based on a new observer normal form

Author(s): Niederwieser, Helmut; Tranninger, Markus; Seeber, Richard; Reichhartinger, Markus
Published in: arxiv, Issue 23318422, 2021, ISSN 2331-8422
Publisher: Cornell University
DOI: 10.48550/arxiv.2107.12846

Disturbance sensitivity analysis and experimental evaluation of continuous sliding mode control

Author(s): Michael Ruderman, Benjamin Voss, Leonid Fridman, Johann Reger
Published in: arxiv, 2022
Publisher: Cornell University
DOI: 10.48550/arxiv.2208.06608

Analysis of relay-based feedback compensation of Coulomb friction

Author(s): Michael Ruderman, Leonid Fridman
Published in: 2022
Publisher: Cornell University
DOI: 10.48550/arxiv.2205.09352

Book chapters (3)

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, ISBN 978-3-319-62895-0
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-62896-7_7

A Lyapunov based Saturated Super-Twisting Algorithm

Author(s): I. Castillo, M. Steinberger, L. Fridman, J. Moreno, M. Horn
Published in: Emerging Trends in Sliding Mode Control, 2021
Publisher: Springer
DOI: 10.1007/978-981-15-8613-2_2

Recent Advancements in Continuous Wheel Slip Control

Author(s): Dzmitry Savitski, Valentin Ivanov, Klaus Augsburg, Barys Shyrokau, Hiroshi Fujimoto
Published in: IAVSD 2019: Advances in Dynamics of Vehicles on Roads and Tracks, 2020
Publisher: Springer
DOI: 10.1007/978-3-030-38077-9_175

Intellectual Property Rights

Other (1)

Systems and methods for ride control blending in electric vehicles

Application/Publication number: US 15/843,395
Date: 2017-12-15
Applicant(s): TENNECO AUTOMOTIVE EUROPE BVBA