Search

Your search keyword '"Matteo Cocetti"' showing total 19 results
Start Over Author "Matteo Cocetti"
19 results on '"Matteo Cocetti"'

12. Hybrid Nonovershooting Set-Point Pressure Regulation for a Wet Clutch

Author

Luca Zaccarian, Panizzolo Fabrizio, Matteo Ragni, Luca De Pascali, Matteo Cocetti, Silvia Donnarumma, Pier Paolo Rinaldi, Alex Sassaro, Francesco Biral, University of Trento [Trento], University of Genoa (UNIGE), Dana Rexroth Transmission Systems, Dipartimento di Ingegneria Industriale [Trento], Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Università degli studi di Genova = University of Genoa (UniGe), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)

Subjects
switching control, 0209 industrial biotechnology, Computer science, wet-clutch, Hybrid/reset control, 02 engineering and technology, Transmission system, Linear matrix, Mechatronics, Set point, Computer Science Applications, overshoot, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control and Systems Engineering, Robustness (computer science), Control theory, pressure control, Torque, Clutch, Electrical and Electronic Engineering, linear matrix inequalities, Continuously variable transmission
Abstract

International audience; We propose a control oriented Wiener model for wet-clutches in filled conditions and we discuss the associated identification technique. We design a novel hybrid controller, which ensures zero steady-state error and a fast non-overshooting response. We show that the controller parameters can be conveniently obtained by solving a set of linear matrix inequalities. Finally, we test the proposed control strategy on the hydromechanical variable transmission developed by Dana-Rexroth Transmission Systems. The experiments show good performance and robustness with respect to modeling errors and noise.

Published
2020
Full Text
View/download PDF

13. A Hybrid Adaptive Inverse for Uncertain SISO Linear Plants with Full Relative Degree *

Author

Luca Zaccarian, Matteo Ragni, Sophie Tarbouriech, Matteo Cocetti, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
0209 industrial biotechnology, Degree (graph theory), Basis (linear algebra), 020208 electrical & electronic engineering, Regulator, Inverse, 02 engineering and technology, Action (physics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Discrete time and continuous time, Control theory, Hybrid system, 0202 electrical engineering, electronic engineering, information engineering, Full Relative, Mathematics
Abstract

International audience; We propose a hybrid adaptive feed-forward regulator for single-input single-output linear plants with full relative degree. The scheme includes an adaptive law that estimates the inverse of the plant and provides a feed-forward control calculated on the basis of the desired output and its derivatives. The adaptation is performed during discrete time events, called jumps, while the feed-forward action is continuous. This combination leads to a full hybrid system. The advantage of this framework is a conceptual separation between the adaptation dynamics, which is discrete, and the plant dynamics, which is continuous. Under an assumption of a persistence of excitation, we show through examples that the output asymptotically tracks the desired reference and that the estimate of the parameters of the inverse converges.

Published
2019
Full Text
View/download PDF

14. On dead-zone observers for linear plants

Author

Luca Zaccarian, Matteo Cocetti, Sophie Tarbouriech, University of Trento [Trento], Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Dipartimento di Ingegneria Industriale [Trento], Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT), and Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole)

Subjects
0209 industrial biotechnology, Noise measurement, 020208 electrical & electronic engineering, Linear system, Linear matrix inequality, 02 engineering and technology, Dead zone, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Exponential stability, Robustness (computer science), Control theory, Computer Science::Systems and Control, 0202 electrical engineering, electronic engineering, information engineering, Mathematics
Abstract

International audience; We propose a new class of Luenberger-like observers for LTI plants which are robust with respect to measurements affected by high-frequency noise. These observers have the classical Luenberger structure but the output injection term is corrected by means of an adaptive dead-zone. The dead-zone "cuts" part of the noise using the dead-band. The dead-zone levels are dynamically adapted according to noise, establishing a trade-off between speed of convergence and sensitivity to noise. We show that both the observer gain and the adaptation parameters can be obtained solving a Linear Matrix Inequality (LMI), whose feasibility only requires detectability of the plant. The parameters obtained through this optimization procedure ensure Uniform Global Asymptotic Stability of the origin in the error coordinates. The effectiveness of the approach is shown by means of a numerical example.

Published
2018
Full Text
View/download PDF

15. Necessary and sufficient stability conditions for equilibria of linear SISO feedbacks with a play operator**Work supported in part by ANR under project LimICoS, contract number 12 BS03 005 01 and by the University of Trento, grant OptHySYS

Author

Matteo Cocetti, Luca Zaccarian, Enrico Bertolazzi, and Fabio Bagagiolo

Subjects
0209 industrial biotechnology, Bounded set, Linear system, 02 engineering and technology, 01 natural sciences, 010305 fluids & plasmas, Stability conditions, Nonlinear system, 020901 industrial engineering & automation, Operator (computer programming), Differential inclusion, Exponential stability, Control and Systems Engineering, Control theory, 0103 physical sciences, 10. No inequality, Representation (mathematics), Mathematics
Abstract

We consider the feedback interconnection of a strictly proper single input single output plant with a play (equivalently backlash) operator. Under the standard assumption that the linear feedback is exponentially stable we characterize the set of equilibria of the arising nonlinear closed-loop system and show that it is a bounded set containing the origin. Then we provide necessary and sufficient conditions for global exponential stability of this set, that correspond to exponential stability of the open-loop dynamics. We prove our main result by proposing a novel model for the play operator, corresponding to a constrained differential inclusion. With this representation, we also show that the nonlinear closed loop under consideration can be projected to a subspace where it evolves like a switching linear system. We illustrate our results by some numerical simulations illustrating a few possible scenarios.

Published
2016
Full Text
View/download PDF

16. A kinematic observer with adaptive dead-zone for vehicles lateral velocity estimation

Author

Luca Zaccarian, Matteo Cocetti, Sophie Tarbouriech, Francesco Biral, Luca De Pascali, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées

Subjects
Computer science, Linear matrix inequality, 020206 networking & telecommunications, 0102 computer and information sciences, 02 engineering and technology, Kinematics, Dead zone, Observer (special relativity), 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Lateral velocity, 010201 computation theory & mathematics, Control theory, 0202 electrical engineering, electronic engineering, information engineering
Abstract

International audience; In this paper we tailor the dead-zone based mechanism presented in [3] to the well-known kinematic observer for the estimation of vehicle lateral velocity. We extend the previous results on the dead-zone observer to linear parameter varying systems. The proposed mechanism maintains the structure of the kinematic observer but inserts an adaptive dead-zone at the output injection term. This dead-zone mechanism partially "cuts" the noise and increases the noise rejection performance allowing for the selection of a larger observer gain. We use this freedom to increase the observer gain to attenuate constant bias errors in the acceleration measurements. The proposed solution is easy to implement and requires only measurements acquired from standard on-board sensors. The adaptation parameters are selected solving a suitable Linear Matrix Inequality (LMI), and no manual tuning is required. We show the effectiveness of the proposed solution through numerical simulations.

Published
2018
Full Text
View/download PDF

17. Dynamic input allocation for uncertain linear over-actuated systems

Author

Luca Zaccarian, Andrea Serrani, Matteo Cocetti, University of Trento [Trento], Ohio State University [Columbus] (OSU), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Dipartimento di Ingegneria Industriale [Trento], Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées

Subjects
0209 industrial biotechnology, Mathematical optimization, 020208 electrical & electronic engineering, 02 engineering and technology, Energy minimization, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Allocator, 020901 industrial engineering & automation, Control theory, Robustness (computer science), 0202 electrical engineering, electronic engineering, information engineering, Minification, Weighted energy, Mathematics
Abstract

International audience; In this paper, linear over-actuated systems are considered, i.e., systems with more control inputs than regulated outputs. For these systems, an entire family of input functions and/or state trajectories is compatible with a prescribed reference for the output. The possibility of dynamically selecting on-line the most suitable of these trajectories according to certain performance criteria, leads to the so-called dynamic input allocation problem. In this paper we present, within the general framework of the robust output regulation problem, the design of dynamic input allocators for linear uncertain system, on the basis of two selected performance criteria of practical interest. Specifically, we aim at on-line minimization of the weighted energy and the amplitude of the control input, criteria that are especially suitable for input energy optimization and to deal with saturation limits. Stability and robustness of the ensuing closed-loop system are proved. An example is provided in support of the methodological findings.

Published
2016
Full Text
View/download PDF

18. Coordinated dynamic behaviors in multi-robot systems with time-varying topologies

Author

Matteo Cocetti, Cristian Secchi, Alessio Levratti, Lorenzo Sabattini, and Cesare Fantuzzi

Subjects
Engineering, Robot kinematics, business.industry, Control engineering, Topology (electrical circuits), Network topology, Robot control, Computer Science::Robotics, Setpoint, Modeling and simulation, Control theory, Trajectory, Robot, business, Laplace equations, Mathematical model, Multi-robot systems, Topology, Control and Systems Engineering, Modeling and Simulation, Control and Optimization
Abstract

A control strategy for the execution of coordinated complex dynamic behaviors in multi-robot systems is introduced in this paper. In particular, considering a dependent-independent robot partitioning of a multi-robot system, we introduce a methodology for controlling the independent robots in such a way that, exploiting local interaction, the dependent robots are driven to track desired periodic setpoint trajectories. The control strategy is designed taking explicitly into account variations in the interconnection topology, due to relative movements among the robots.

Published
2015

Catalog

Books, media, physical & digital resources
See catalog results