R. Orjuela - Academia.edu (original) (raw)

Papers by R. Orjuela

IFAC-PapersOnLine, 2016

The paper proposes the implementation of a robust cruise control system which is able to ensure t... more The paper proposes the implementation of a robust cruise control system which is able to ensure the fuel-efficient travel of the vehicle with a look-ahead control algorithm. The H ∞-based feedforward-feedback control method guarantees robustness against varying vehicle mass, longitudinal disturbances and the consideration of actuator dynamics. The advantage of the method is the application of a small number of vehicle parameters. Therefore, a method for various passenger cars without significant modifications is needed. The proposed cruise control and the look-ahead method are implemented in a software-in-the-loop (SIL) environment using DSpace Autobox, which cooperates with the high-fidelity CarSim software through CAN communication.

IFAC-PapersOnLine, 2021

International audienc

ISA transactions, 2014

This paper aims with the mathematical modelling of an active inflatable device. This device is co... more This paper aims with the mathematical modelling of an active inflatable device. This device is composed of a compressor, an Electro-pneumatic Pressure Converter (EPC) and an Inflatable Textile fabric Pocket (ITP). The later has interesting mechanical properties and is fabricated using Jacquard knitting technique which allows automatic production of unlimited varieties of pattern weaving without any mould. Thanks to these features, these ITPs have provided a better alternative to the classical airbags made by stretchable polymer material. The proposed mathematical model is obtained by combining sub-models of two main parts of the whole system. In this way, a generalised and flexible model is obtained which can easily take into consideration the ITPs of different shapes. The pressure dynamics inside the ITP are considered by taking into account the air flow rate, variation of the volume of ITP and the length of pneumatic lines joining ITP with compressed air source. The parameters of ...

Enfin, je ne remercierai jamais assez ma compagne, Angélique, qui a su peindre d'amour et de bonh... more Enfin, je ne remercierai jamais assez ma compagne, Angélique, qui a su peindre d'amour et de bonheur ma vie depuis que nos chemins se sont entremêlés dans la ville rose... iii iv Table des matières Notations Références personnelles

This paper proposes two observer-based FDI strategies for nonlinear systems represented by a part... more This paper proposes two observer-based FDI strategies for nonlinear systems represented by a particular class of multiple model using heterogeneous submodels. The structure of this interesting multiple model is firstly presented in order to design two kinds of state observers. The first observer, known as proportional observer (PO), is an extension of the classic Luenberger observer, in this way, it can be used to obtain an estimation of the system state. The second proposed observer, known as proportional-integral observer ( ...

Control Theory & Applications, IET, Jul 1, 2009

This study addresses the analysis and design of unknown input observer in order to provide both s... more This study addresses the analysis and design of unknown input observer in order to provide both state and unknown input estimations of complex systems modelled with the help of a particular class of multiple model. The proposed observer uses the multi-integral strategy successfully employed in the classic linear control theory and known for its robustness properties. The observer design is based on the representation of the system via a particular multiple model, known as dasiadecoupled multiple modeldasia. This structure ...

Decision and Control, …, Dec 9, 2008

In this paper, a decoupled multiple model approach is used in order to cope with the state estima... more In this paper, a decoupled multiple model approach is used in order to cope with the state estimation of uncertain nonlinear systems. The proposed decoupled multiple model provides flexibility in the modelling stage because the dimension of the submodels can be different and this constitutes the main difference with respect to the classically used multiple model scheme. The state estimation is performed using a proportional integral observer (PIO) which is well known for its robustness properties with respect to uncertainties and ...

Control Engineering Practice, 2014

This paper deals with automatic control design for automotive driving with a special focus on the... more This paper deals with automatic control design for automotive driving with a special focus on the longitudinal control. The automotive vehicle is a complex system characterised by highly nonlinear longitudinal and lateral coupled dynamics. Consequently, the control design for automated driving should deal with both of these dynamic couplings. Indeed, the longitudinal control plays an important role in the automated guidance to ensure safety and comfort of automotive passengers. In this work, a nonlinear cascade longitudinal control based on inner and outer-loops design is proposed. The lateral control is handled following a model predictive approach ensuring the automated steering of the vehicle. Finally, the nonlinear longitudinal control is integrated with the lateral control in a whole architecture to perform a coupled longitudinal and lateral control. The effectiveness of the automated driving strategy is highlighted through simulation results.

Mechatronics

This paper proposes a graph-based methodology that models high-pressure networks of various topol... more This paper proposes a graph-based methodology that models high-pressure networks of various topologies. Therefore, a mathematical modelling of a supply network for waterjet machining will be introduced. High-pressure components are assigned to homogeneous segments, each representing a local pressure state as a differential equation. Segments are subsequently interconnected along the fluid flow path as an algebraic equation that allocates a fluid flow to the interconnections, resulting in a lumped parameter model. For this purpose, a graph network description has been used to approximate the spatially distributed high-pressure system. In this way, the proposed methodology offers a flexible modelling to cope with different network topologies. Moreover, a variable fluid compressibility has also been introduced so that a wide operating range can be included. This modelling methodology has been applied to a supply network for waterjet machining. The resulting mathematical model has been verified by measurements from a test bench with a pressure range of 100 to 400 MPa. It was shown that a variable fluid compressibility improves the model's accuracy and that modelling errors can be reduced in comparison to other existing methodologies.

Proceedings of the 19th IFAC World Congress, 2014

The objective of this paper is to propose a control strategy of air pressure inside an Inflatable... more The objective of this paper is to propose a control strategy of air pressure inside an Inflatable Textile Pocket (ITP) in order to design an adjustable seat backrest for drivers comfort. For the said purpose, firstly a brief model of an Electro-pneumatic Pressure Converter (EPC) is presented along with the pressure dynamics inside an IFP. This nonlinear model is then linearized around an operating point and a control synthesis is performed using the classical linear control theory. The obtained PID controller is implemented on a developed experimental test bench. Furthermore, a comparative analysis, between the feedback reposes obtained with the help of the proposed control and an industrial pressure regulator, is also performed to show the effectiveness of the proposed controller.

J3eA, 2015

Systèmes (MIPS) EA233 12, rue des frères Lumière F-68093 MULHOUSE CEDEX RESUME : les projets tuto... more Systèmes (MIPS) EA233 12, rue des frères Lumière F-68093 MULHOUSE CEDEX RESUME : les projets tutorés et la participation aux clubs scientifiques constituent deux moyens intéressants de placer l'étudiant au coeur du processus de sa propre formation universitaire. Au sein des formations liées aux sciences de l'ingénieur, ces moyens sont une façon motivante pour le futur ingénieur de se confronter à une problématique réelle, de mettre en application les notions théoriques étudiées et d'acquérir des compétences autres que scientifiques (gestion d'un projet, travail en groupe, autonomie, etc.) nécessaires à son futur métier d'ingénieur. Nous présentons, dans cette communication, trois réalisations techniques issues de cette démarche pédagogique à l'ENSISA. Il s'agit de trois prototypes de véhicules, à savoir, un buggy électrique, une Peugeot 206 hybride et une voiture de course biplaces électrique. Mots clés : plateformes expérimentales; véhicule électrique; véhicule hybride; enseignement actif.

Le secteur de l'automobile en général, et le véhicule hybride en particulier, constitue un vaste ... more Le secteur de l'automobile en général, et le véhicule hybride en particulier, constitue un vaste domaine de recherche en automatique. La réalisation d'un véhicule hybride constitue alors un excellent moyen d'appliquer et de montrer l'intérêt des techniques de l'automatique (modélisation, simulation et commande) pour faire faceà un problème concret. En effet, la transformation d'un véhicule grand public en véhicule hybride se heurteà un nombre important de difficultés techniques et scientifiques, qui vont de la modification et de l'élaboration de certains organes mécaniques jusqu'à la conception d'algorithmes de commande pour la gestion des deux modes de motorisation, en passant par les phases d'intégration de nouveaux actionneurs, d'acquisition et de traitement du signal. Mots-clés: véhicule hybride, commande, instrumentation, démonstrateur en automatique. 1. L'association VoiDomotik aété fondée par des anciensélèves de l'ENSISA fortement impliqués dans ce projet.

2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08, 2008

This paper addresses both state and unknown input estimation problem of nonlinear systems modelle... more This paper addresses both state and unknown input estimation problem of nonlinear systems modelled with the help of a particular class of multiple models, known as decoupled multiple model. The simultaneous estimation of the state and the unknown inputs is achieved using a proportionalintegral observer that is well known by its robustness properties. The proposed observer allows the use of submodels with different dimensions and this fact offers potential applications in the multiple model framework. The LMI framework is used in order to provide sufficient conditions for ensuring exponential convergence of the estimation error and robust H ∞ performances with respect to perturbations.

IFAC Proceedings Volumes (IFAC-PapersOnline), 2009

This paper addresses both analysis and observer design for nonlinear systems modelled by decouple... more This paper addresses both analysis and observer design for nonlinear systems modelled by decoupled multiple models. With respect to classic used multiple models, the decoupled multiple model is characterized by heterogeneous submodels in the sense that their state spaces may be of various dimensions. Thanks to this fact, flexibility and generality is introduced in the modelling stage. The main contribution of the paper is the development of new sufficient conditions on LMI form for ensuring the exponential convergence towards zero of the estimation error in the continuous and in the discrete-time. The new proposed conditions enable to obtain a better decay rate with respect to the existing conditions. The validity of the proposed methodology and its application to sensor faults detection and isolation is illustrated by an academic example.

2012 IFAC Workshop on Engine and Powertrain Control, Simulation and Modeling, 2012

ABSTRACT This paper presents an automated vehicle guidance strategy with a special focus on the l... more ABSTRACT This paper presents an automated vehicle guidance strategy with a special focus on the longitudinal control. Indeed, the longitudinal control plays an important role in the automated guidance strategy to ensure safety and comfort of automotive passengers. Sophisticated longitudinal control allows also to enhance fuel consumption reduction. Thus, a nonlinear longitudinal control design based on a Lyapunov approach is proposed taking into account the throttle, the brake and the gear ratio. The proposed longitudinal controller is coupled to a previously developed lateral guidance and the whole control architecture (coupled longitudinal and lateral control) performance is highlighted through simulations.

2012 American Control Conference (ACC), 2012

ABSTRACT In this paper a coupled longitudinal and lateral control strategy for an autonomous auto... more ABSTRACT In this paper a coupled longitudinal and lateral control strategy for an autonomous automotive vehicle is proposed. The proposed control scheme consists of a lateral guidance module based on a NonLinear Model-based Predictive Controller (NLMPC) and a cruise speed generation and regulation module. A cruise speed-profile generator allows the calculation of the cruise speed which preserves the lateral stability of the vehicle during lateral maneuvers. The calculation of the cruise speed profile is done considering road geometry as well as lateral dynamics criteria. The handling of both longitudinal and lateral dynamics in addition to the calculation of the limit cruise speed profile by considering lateral stability criteria illustrate the interest of the proposed approach. The developed control architecture is tested through simulation and shows good performance for guidance at high cruise speeds.

2012 IEEE Intelligent Vehicles Symposium, 2012

This paper describes a vehicle guidance strategy with a focus placed on the reference generation ... more This paper describes a vehicle guidance strategy with a focus placed on the reference generation and the control levels. Further to a perception step, performed through the fusion of a Geographic Information System (GIS) and a vision system, the reference generation leads to the computation of a constrained smooth trajectory and a smooth speed profile integrating safety and comfort criteria. The obtained reference set is then used by a longitudinal and NLMPC-based lateral controller providing the steering angle and traction torque. The complete system performance are presented through simulation results based on real-time measurements.

Proceedings of the 18th IFAC World Congress, 2011

nowadays fault-tolerant control (FTC) strategies become unavoidable to ensure at the same time co... more nowadays fault-tolerant control (FTC) strategies become unavoidable to ensure at the same time control and fault diagnosis objectives. Furthermore, delayed system are increasingly encountered in many real-world applications. Therefore, an active fault-tolerant control strategy for delayed system is presented in this paper. The core of the proposed strategy is the simultaneous state and fault estimations provided by an observer known as multi-integral observer. Sufficient conditions for ensuring the control law stability as well as the estimation error convergence of the observer are given employing the LMI framework. The effectiveness of the proposed approach is illustrated via a simulation example.

Vehicle System Dynamics, 2014

This paper deals with the longitudinal and lateral control of an automotive vehicle within the fr... more This paper deals with the longitudinal and lateral control of an automotive vehicle within the framework of fully automated guidance. The automotive vehicle is a complex system characterized by highly nonlinear longitudinal and lateral coupled dynamics. Consequently, automated guidance must be simultaneously performed with longitudinal and lateral control. This work presents an automated steering strategy based on Nonlinear Model Predictive Control. A nonlinear longitudinal control strategy considering powertrain dynamics is also proposed to cope with the longitudinal speed tracking problem. Finally a simultaneous longitudinal and lateral control strategy helps to improve the combined control performance. This whole control strategy is tested through simulations showing the effectiveness of the present approach.