Switched backstepping control of an electropneumatic clutch actuator using on/off valves

Explicit Approximate Model Predictive Control of Constrained Nonlinear Systems with Quantized Input

“…In comparison to proportional valves, the on/off valves are smaller and cheaper. In [7], [9] the case when only fully open and closed are possible states of the valves is considered. Then, a controller is designed to govern switches between these states based on backstepping and Lyapunov theory.…”

“…Then, a controller is designed to govern switches between these states based on backstepping and Lyapunov theory. It should be noted however, that the methods in [7], [9] can not explicitly handle the constraints imposed on the clutch actuator position. On the other hand, Model Predictive Control (MPC) is an optimization based method for control which can explicitly handle both state and input constraints.…”

“…To control both supply to and exhaust from the clutch actuator chamber, at least one pair of on/off valves are needed. As we only allow these to be fully open or closed, with two valves and under the assumption of choked flow, we restrict the flow of the clutch actuator to three possible values: maximum flow into the volume, maximum flow out of the volume, or no flow [7], [9]. The electronic control unit (ECU) calculates and sets voltage signals to control the on/off valves.…”

Switched control of an electropneumatic clutch actuator using on/off valves

“…On/off valves are often controlled by pulse width modulation as in [5]- [8], but to avoid the difficult modeling task, we choose to only allow the valves to be either fully open or fully closed. This is the same approach as we took in [9], and then we only need to know the size of the input voltage which guarantees fully opening/closing of the valves. While [9] investigated a modification of a backstepping design for switched control, here we consider a Lyapunov-design that yields a larger region of attraction.…”

“…This is the same approach as we took in [9], and then we only need to know the size of the input voltage which guarantees fully opening/closing of the valves. While [9] investigated a modification of a backstepping design for switched control, here we consider a Lyapunov-design that yields a larger region of attraction.…”