Design of Automotive Control Systems Robust to Hardware Imprecision

Author:

Edelberg Kyle1,Pan Selina1,Hedrick J. Karl1

Affiliation:

1. University of California, Berkeley, Berkeley, CA

Abstract

The hardware used for software implementation on a physical system introduces uncertainty into the controller. If neglected during design, this uncertainty can lead to poor controller performance, resulting in significant design and verification iterations. In this work, the effect of sampling time, quantization, and fixed-point computation are directly accounted for in the control design. Sampling time is compensated for by a discrete-time controller. A generic methodology is developed for modeling the worst-case scenario effect of quantization and fixed-point computation on the control commands. The cold-start emission control problem is used as a case study, and a discrete-time sliding surface controller is developed. Verification is performed to ensure the estimated worst-case scenario uncertainty bounds are accurate. The bounds are incorporated into a modified version of the control laws. During simulation the modified controller demonstrates significant reduction in tracking error in the presence of hardware imprecisions.

Publisher

American Society of Mechanical Engineers

Cited by 6 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Graph Classification with Minimum DFS Code: Improving Graph Neural Network Expressivity;2021 IEEE International Conference on Big Data (Big Data);2021-12-15

2. Adaptive Discrete Second-Order Sliding Mode Control With Application to Nonlinear Automotive Systems;Journal of Dynamic Systems, Measurement, and Control;2018-07-23

3. EnergyCoupon;Proceedings of the Eighth International Conference on Future Energy Systems;2017-05-16

4. Bridging the gap between designed and implemented controllers via adaptive robust discrete sliding mode control;Control Engineering Practice;2017-02

5. Tracking Controller Design for MIMO Nonlinear Systems With Application to Automotive Cold Start Emission Reduction;Journal of Dynamic Systems, Measurement, and Control;2015-08-03

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