Global warming forces the automotive industry to reduce real driving emissions and thus, its CO2 ... more Global warming forces the automotive industry to reduce real driving emissions and thus, its CO2 footprint. Besides maximizing the individual efficiency of powertrain components, there is also energy-saving potential in the choice of driving strategy. Many research works have noted the potential of model predictive control (MPC) methods to reduce energy consumption. However, this results in a complex control system with many parameters that affect the energy efficiency. Thus, an important question remains: how do these partially uncertain (system or controller) parameters influence the energy efficiency? In this article, a global variance-based sensitivity analysis method is used to answer this question. Therefore, a detailed powertrain model controlled by a longitudinal nonlinear MPC (NMPC) is developed and parameterized. Afterwards, a qualitative Morris screening is performed on this model, in order to reduce the parameter set. Subsequently, the remaining parameters are quantified...
This paper describes the different approaches which can be used to test vision systems for operat... more This paper describes the different approaches which can be used to test vision systems for operations on robotic lunar surface missions. We investigate validating systems in virtual environments, lab environments and analogue outdoor environments and demonstrate that a combination of all three approaches is needed to sufficiently test systems for the lunar surface.
Abstract In this chapter, an observer-based controller design strategy is applied to cope with ad... more Abstract In this chapter, an observer-based controller design strategy is applied to cope with adversary attacks on cyber-physical systems. Two types of attacks are considered, that is, physical attacks, and false-data injection, or data deception attacks. A model-based observer and fault/attack detection/tolerant scheme is proposed. Based on the classical fault-tolerant detection tools, a residual generator for attack/fault detection based on observers is designed. Two control strategies are considered, that is, an output-feedback controller and a state-feedback controller. Stability conditions for both controllers are given in terms of a bilinear matrix inequality constraint. In both cases, an aperiodic event-triggered implementation strategy is proposed in order to achieve a better security requirement and reduce (limit) the total number of transmissions to only instances when the networked control system needs attention. The sample-and-hold control input is updated at triggering time, defined according to each control strategy. Simulation results on a real-time laboratory three-tank system are given to show the attack-tolerant control ability, despite data deception attacks on both actuators and sensors.
Global warming forces the automotive industry to reduce real driving emissions and thus, its CO2 ... more Global warming forces the automotive industry to reduce real driving emissions and thus, its CO2 footprint. Besides maximizing the individual efficiency of powertrain components, there is also energy-saving potential in the choice of driving strategy. Many research works have noted the potential of model predictive control (MPC) methods to reduce energy consumption. However, this results in a complex control system with many parameters that affect the energy efficiency. Thus, an important question remains: how do these partially uncertain (system or controller) parameters influence the energy efficiency? In this article, a global variance-based sensitivity analysis method is used to answer this question. Therefore, a detailed powertrain model controlled by a longitudinal nonlinear MPC (NMPC) is developed and parameterized. Afterwards, a qualitative Morris screening is performed on this model, in order to reduce the parameter set. Subsequently, the remaining parameters are quantified...
This paper describes the different approaches which can be used to test vision systems for operat... more This paper describes the different approaches which can be used to test vision systems for operations on robotic lunar surface missions. We investigate validating systems in virtual environments, lab environments and analogue outdoor environments and demonstrate that a combination of all three approaches is needed to sufficiently test systems for the lunar surface.
Abstract In this chapter, an observer-based controller design strategy is applied to cope with ad... more Abstract In this chapter, an observer-based controller design strategy is applied to cope with adversary attacks on cyber-physical systems. Two types of attacks are considered, that is, physical attacks, and false-data injection, or data deception attacks. A model-based observer and fault/attack detection/tolerant scheme is proposed. Based on the classical fault-tolerant detection tools, a residual generator for attack/fault detection based on observers is designed. Two control strategies are considered, that is, an output-feedback controller and a state-feedback controller. Stability conditions for both controllers are given in terms of a bilinear matrix inequality constraint. In both cases, an aperiodic event-triggered implementation strategy is proposed in order to achieve a better security requirement and reduce (limit) the total number of transmissions to only instances when the networked control system needs attention. The sample-and-hold control input is updated at triggering time, defined according to each control strategy. Simulation results on a real-time laboratory three-tank system are given to show the attack-tolerant control ability, despite data deception attacks on both actuators and sensors.
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Papers by Holger Voos