Final Report of Parma’s Research Unit
Parma’s team has devoted its research efforts to the following topics:
Optimal minimum-time feedforward control for systems with amplitude constraints on inputs and outputs – Algorithms using Chebyshev polynomials for linear systems have been proposed in [1,2,3,23,28]. A geometric approach for nonlinear systems with convex accessibility set is exposed in [4,5].
Feedforward/feedback schemes for high-performance control systems – An approach using generalized bang-bang control is presented [6]. Inversion-based control designs are reported in [7,8,9,10,11,29].
Dynamic inversion for the control of nonlinear systems – A new method for nonlinear nonminimum-phase systems has been proposed for the control of VTOL models (vertical take-off and landing aircrafts) and for the control of a bi-dimensional inverted pendulum [12,13,14]. Homotopy methods for exact tracking have been proposed in [25,27,33,34,36]. A new polynomial-spline method for the motion planning of wheeled mobile robots has been presented in [15].
Path following for nonlinear nonminimum-phase systems – A feedback controller to achieve path following of a PVTOL model (planar vertical take-off and landing aircraft) has been designed using the ideas of transverse feedback linearization, finite time stabilization and virtual constraints [32,35].
Applications – A Plug&Control strategy for industrial controllers [16]. Bang-bang generalized control for mechatronic systems [17,26]. Minimum-time control of wheeled mobile robots [18]. Decentralized control in formations of wheeled mobile robots [19,20,21,22]. Advances on PID control [24,30,31,38]. Regulation of magnetic levitation systems [37].
Publications
1. S. Piccagli, A. Visioli, “Using a Chebyshev technique for solving the generalized bang-bang control problem”, IEEE International Conference on Decision and Control, New Orleans (LA), pp. 4743-4748, December 2007.
2. S. Piccagli, A. Visioli, “Minimum-time feedforward plus PID control using a Chebyshev technique”, IEEE International Conference on Decision and Control, New Orleans (LA), pp. 1795-1800, December 2007.
3. S. Piccagli, A. Visioli, “Minimum-time feedforward plus PID control for MIMO systems”, 17th IFAC World Congress, Seul (ROK), July 2008.
4. L. Consolini, O. Gerelli, “A geometric approach to minimum-time control based on convexity”, In Proc. of the European Control Conference, pages 3379–3384, July 2007.
5. L. Consolini, O. Gerelli, “An algorithm for minimum-time feedforward control based on convexity”, In Proc. of the IEEE 2007 Conference on Decision and Control, December 2007.
6. L. Consolini, A. Piazzi, A. Visioli, “Minimum-time feedforward control for industrial processes”, In Proc. of the European Control Conference, pages 5282–5287, July 2007.
7. A. Piazzi, A. Visioli, “Combining H-infinity control and dynamic inversion for robust constrained set-point regulation”, International Journal of Tomography & Statistics, Vol. 6, No. S07, pp. 63-68, 2007.
8. A. Visioli, A. Piazzi, “A toolbox for input-output system inversion”, International Journal of Computers, Communication and Control, Vol. 2, No. 4, pp. 375-389, 2007.
9. A. Piazzi, A. Visioli, “An iterative approach for noncausal feedforward tuning”, American Control Conference, New York (NY), pp. 1251-1256, July 2007.
10. A. Piazzi, A. Visioli, “Iterative feedforward tuning for residual vibration reduction”, 17th IFAC World Congress, Seul (ROK), July 2008.
11. C. Carnevale, A. Piazzi, A. Visioli, “A methodology for integrated system identification, PID controller tuning and noncausal feedforward control design”, 17th IFAC World Congress, Seul (ROK), July 2008.
12. L. Consolini, M. Tosques, “On the VTOL aircraft exact tracking with bounded internal dynamics via a Poincarè map approach”, IEEE Transaction on Automatic Control, Vol. 52, No. 9, pp.1757–1762, 2007.
13. L. Consolini, M. Tosques, “On the existence of small periodic solutions for the 2-dimensional inverted pendulum on a cart”, SIAM Journal on Applied Mathematics, Vol. 68, No. 2, pp. 486–502, 2007.
14. L. Consolini, M. Tosques, “A morphing method for exact tracking control of nonminimum phase non linear systems”, In Proc. of the IEEE 2007 Conference on Decision and Control, December 2007.
15. A. Piazzi, C. Guarino Lo Bianco, M. Romano, “Eta3-splines for the smooth path generation of wheeled mobile robots”, IEEE Transaction on Robotics, Vol. 23, No. 5, pp. 1089-1095, October 2007.
16. A. Visioli, “Experimental evaluation of a time-optimal Plug&Control strategy”, ISA Transactions, Vol. 46, pp. 519-525, 2007.
17. L. Consolini, O. Gerelli, C. Guarino Lo Bianco, A. Piazzi, “Minimum-time control of flexible joints with input and output constraints”, In Proc. of the ICRA 2007 International Conference on Robotics and Automation, pages 3811–3816, April 2007.
18. S. Piccagli, T. van den Boom, A. Visioli, “Minimum-time control of a two-wheeled differentially driven vehicle in the presence of slip”, 17th IFAC World Congress, Seul (ROK), July 2008.
19. F. Morbidi, L. Consolini, D. Prattichizzo, M. Tosques, “Leader-follower formation control as a disturbance decoupling problem”, In Proc. of the European Control Conference, pages 1492–1497, July 2007.
20. L. Consolini, F. Morbidi, D. Prattichizzo, M. Tosques, “A geometric characterization of leader-follower formation control”, In Proc. of the ICRA 2007 International Conference on Robotics and Automation, pages 2397– 2402, April 2007.
21. L. Consolini, F. Morbidi, D. Prattichizzo, M.Tosques, “Steering hierarchical multirobot formations of unicycle robots”, In Proc. of the IEEE 2007 Conference on Decision and Control, December 2007.
22. L. Consolini, F. Morbidi, D. Prattichizzo, M. Tosques, “Leader-follower formation control of nonholonomic mobile robots with input constraints”, Automatica, 44(5):1343–1349, 2008.
23. S. Piccagli, A. Visioli, "An optimal feedforward control design for the set-point following of MIMO processes", Journal of Process Control, in press, 2009.
24. M. Veronesi, A. Visioli, "Performance assessment and retuning of PID controllers", Industrial and Engineering Chemistry Research, Vol. 48, No. 5, pp. 2616-2623, 2009.
25. L. Consolini, M. Tosques, “On the exact tracking of the spherical inverted pendulum via an homotopy method”, Systems and Control Letters, 58(1):1–6, 2009.
26. L. Consolini, O. Gerelli, C. Guarino Lo Bianco, A. Piazzi, “Flexible joints control: A minimum-time feed-forward technique”, Mechatronics, Vol. 19, pp. 348-356, 2009.
27. L. Consolini, M. Tosques, “A morphing method for exact output tracking of some nonminimum phase nonlinear systems”, Int. J. of Robust and Nonlinear Control, 2009. in press.
28. S. Piccagli, A. Visioli, "Using a Chebyshev approach for the minimum-time open-loop control of constrained MIMO systems", International Conference on Control 2008 (UKACC), Manchester (UK), September 2008.
29. C. Carnevale, A. Piazzi, A. Visioli, "Noncausal open-loop control with combined system identification and PID controller tuning", International Conference on Control 2008 (UKACC), Manchester (UK), September 2008.
30. M. Veronesi, A. Visioli, "A PID automatic tuning method for distributed-lag processes", International Symposium on Advanced Control of Chemical Processes (ADCHEM), Istanbul (TR), July 2009.
31. A. Visioli, Q.-C. Zhong, "Control of integral processes with dead time: practical issues and experimental results", International Conference on Control 2008 (UKACC), Manchester (UK), September 2008.
32. C. Nielsen, L. Consolini, M. Maggiore, M. Tosques, “Path following for the PVTOL: A set stabilization approach”, In CDC 08, Control and Decision Conference, pages 584–589, December 2008.
33. L. Consolini, M. Tosques, “On the exact tracking of the spherical inverted pendulum via an homotopy method”, In Control and Automation, 2008 16th Mediterranean Conference on, pages 1077–1082, June 2008.
34. L. Consolini, M. Tosques, “A nonlinear dynamic inversion computational approach applied to the exact tracking problem for the spherical pendulum”, In CDC 08, Control and Decision Conference, pages 3469–3474, December 2008.
35. L. Consolini, M. Maggiore, M. Tosques, C. Nielsen, “On the solution of the path following problem for the PVTOL aircraft”, In ACC 09, American Control Conference, 2009, accepted.
36. L. Consolini, M. Tosques, “An homotopy method for exact tracking of nonlinear nonminimum phase systems: the example of the spherical inverted pendulum”, In ACC 09, American Control Conference, 2009, accepted.
37. A. Di Fluri, A. Piazzi, A. Visioli, “Feedforward/feedback control of a magnetic levitation apparatus”, In European Control Conference, 2009, accepted.
38. M. Beschi, A. Piazzi, A. Visioli, “On the practical implementation of a noncausal feedforward technique for PID control”, In European Control Conference, 2009, accepted.