Robust direct data‐driven controller tuning with an application to vehicle stability control

Formentin S.; Garatti S.; Rallo G.; Savaresi S. M.

摘要

Summary xml:id="rnc3782-para-0001">In direct data‐driven controller tuning, a mathematical model of the plant is not needed, as the control law is directly derived from experimental data. Because the most widely used data‐driven techniques are based on the assumption that the underlying dynamics – albeit unknow – is linear, the performance of the resulting controller may not be acceptable with systems whose operating region vary along the time. In this paper, we discuss how to robustify linear data‐driven design by exploiting the features of scenario optimization. More specifically, we carry out a modified version of the well known virtual reference feedback tuning approach where probabilistic performance guarantees are given also when the current operating condition is different from the one observed in the controller identification experiment. We validate the proposed approach on a vehicle stability control problem, via a thorough simulation campaign on a multibody simulator. The experimental results show the effectiveness of the proposed approach in a complex real‐world setting. Copyright ? 2017 John Wiley & Sons, Ltd. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract XMLNS =“http://www.wiley.com/namespaces/wiley”type =“main”xml：id =“rnc3782-abs-0001”xml：lang =“en”> <标题类型=“main” >摘要</标题> XML：ID =“RNC3782-段 - 0001”>在直接数据驱动的控制器调谐中，不需要工厂的数学模型，因为控制法直接来自实验数据。由于最广泛使用的数据驱动技术基于底层动态 - 虽然未知 - 是线性的假设，所以所得控制器的性能可能无法接受操作区域沿时间变化的系统。在本文中，我们讨论如何通过利用场景优化的特征来强制线性数据驱动的设计。更具体地，我们执行众所周知的虚拟参考反馈调整方法的修改版本，其中还给出了当前的操作条件与控制器识别实验中观察到的那个时的概率性能保证。我们通过多体模拟器上的彻底模拟活动验证了车辆稳定控制问题的提出方法。实验结果表明，建议的方法在复杂的真实世界中的有效性。版权？ 2017年John Wiley＆amp; SONS，LTD。</ p> </ abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2018年第12期</span><b style="margin: 0 2px;">|</b><span>共14页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Formentin S.&option=202" target="_blank" rel="nofollow">Formentin S.;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Garatti S.&option=202" target="_blank" rel="nofollow">Garatti S.;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Rallo G.&option=202" target="_blank" rel="nofollow">Rallo G.;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Savaresi S. M.&option=202" target="_blank" rel="nofollow">Savaresi S. M.;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>Department of Electronics Information and BioengineeringPolitecnico di Milanovia G. Ponzio 34/5 Milano 20133 Italy;</p> <p>Department of Electronics Information and BioengineeringPolitecnico di Milanovia G. Ponzio 34/5 Milano 20133 Italy;</p> <p>Department of Electronics Information and BioengineeringPolitecnico di Milanovia G. Ponzio 34/5 Milano 20133 Italy;</p> <p>Department of Electronics Information and BioengineeringPolitecnico di Milanovia G. Ponzio 34/5 Milano 20133 Italy;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=robust&option=203" rel="nofollow">robust;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=data‐driven control&option=203" rel="nofollow">data‐driven control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=virtual reference feedback tuning&option=203" rel="nofollow">virtual reference feedback tuning;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=vehicle stability&option=203" rel="nofollow">vehicle stability;</a> </p> <div class="translation"> 机译：鲁棒;数据驱动控制;虚拟参考反馈调整;车辆稳定性; </div> </li> </ul> </div> </div> <div class="literature cardcommon" id="literaturereference" style="display:none"> <div class="similarity "> <h3 class="all_title" id="enpatent111">引文网络</h3> <div class="referencetab clearfix"> <ul id="referencedaohang"> <li dataid="referenceul">参考文献</li> <li dataid="citationul">引证文献</li> <li dataid="commonreferenceul">共引文献</li> <li dataid="commoncitationul">同被引文献</li> <li dataid="tworeferenceul">二级参考文献</li> <li dataid="twocitationul">二级引证文献</li> </ul> </div> <div class="reference_details" id="referenceList"> <ul id="referenceul"></ul> <ul id="citationul"></ul> <ul id="commonreferenceul"></ul> <ul id="commoncitationul"></ul> <ul id="tworeferenceul"></ul> <ul id="twocitationul"></ul> </div> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div class="similaritytab clearfix"> <ul> <li class="active" >外文文献</li> <li >中文文献</li> <li >专利</li> </ul> </div> <div class="similarity_details"> <ul > <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/journal-foreign-detail/0704023067556.html">Robust direct data‐driven controller tuning with an application to vehicle stability control</a> <b>[J]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Formentin S.&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Formentin S.,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Garatti S.&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Garatti S.,</a> <a 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</b><a class="enjiyixqcontent" href="/academic-degree-domestic_mphd_thesis/020314227777.html">基于预测控制理论的车辆鲁棒稳定性控制器设计</a> <b>[A] </b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=贺登博&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 贺登博</a> <span> . 2016</span> </span> </div> </li> </ul> <ul style="display: none;"> <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/patent-detail/06120112837854.html">一种基于分段T-S模糊模型的车辆稳定性控制器设计方法</a> <b>[P]</b> . <span> 中国专利： CN112882389A </span> <span> . 2021-06-01</span> </div> </li> <li> <div> <b>2. </b><a class="enjiyixqcontent" href="/patent-detail/06120100962217.html">车辆稳定性控制器性能保守性的设计方法</a> <b>[P]</b> . <span> 中国专利： CN110008600A </span> <span> . 2019-07-12</span> </div> </li> <li> <div> <b>3. </b><a class="enjiyixqcontent" href="/patent-detail/06130419446280.html">MOTOR DRIVEN POWER STEERING DEVICE AND A CONTROLLING METHOD THEREOF, CAPABLE OF IMPROVING VEHICLE STABILITY BY CONTROLLING INSTABILITY IN A YAW DIRECTION DUE TO THE EXCESSIVE STEERING INPUT OF A DRIVER</a> <b>[P]</b> . <span> 外国专利：  KR20130066380A </span> <span> . 2013-06-20</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：电动机驱动的动力转向装置及其控制方法，能够通过驾驶员过度转向输入来控制偏航方向的不稳定性，从而提高车辆的稳定性 </span> </p> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/patent-detail/06130436628121.html">Method for controlling travelling stability of motor vehicle entails regulating slip of driven wheels directly by control of torque transmitted by clutch between engine and wheels of vehicle</a> <b>[P]</b> . <span> 外国专利：  DE102005035882A1 </span> <span> . 2006-02-23</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：控制机动车行驶稳定性的方法需要直接通过控制离合器在车辆的发动机和车轮之间传递的扭矩来调节从动轮的打滑 </span> </p> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/patent-detail/06130434103191.html">Driving safety increasing system for vehicle e.g. lorry, has display device to display data/signals of electronic stability program-controller, global positioning system, airbag and engine controllers and driving safety information</a> <b>[P]</b> . <span> 外国专利：  DE102006047311A1 </span> <span> . 2007-06-14</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：用于车辆的驾驶安全增加系统，例如卡车，具有显示设备，用于显示电子稳定程序控制器，全球定位系统，安全气囊和发动机控制器的数据/信号以及驾驶安全信息 </span> </p> </li> </ul> </div> </div> </div> <div class="theme cardcommon" style="overflow: auto;display:none"> <h3 class="all_title" id="enpatent55">相关主题</h3> <ul id="subject"> </ul> </div> </div> </div> </div> <div class="right rightcon"> <div class="details_img cardcommon clearfix" style="margin-bottom: 10px;display:none;" > 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