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Luca Cavanini

Bio: Luca Cavanini is an academic researcher from Marche Polytechnic University. The author has contributed to research in topics: Model predictive control & Control theory. The author has an hindex of 8, co-authored 26 publications receiving 174 citations.

Papers
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Journal ArticleDOI
TL;DR: This study introduces the use of model predictive control to improve the performance of pre-compensated power supplies, and in particular of DC–DC converters, by dynamically modifying their output voltage reference.
Abstract: This study introduces the use of model predictive control (MPC) to improve the performance of pre-compensated power supplies, and in particular of DC-DC converters, by dynamically modifying their output voltage reference. The importance of developing controllers for pre-compensated converters is twofold. First, the hierarchical structure is particularly useful when the primal controller is already coded, or hardware based, and cannot be changed. Second, the double-loop and, possible, multi-rate structure represents a computationally cheaper alternative to a direct MPC that would replace the primal controller and would require a much higher sampling frequency. In this study a MPC controller has been applied for the regulation of a pre-compensated synchronous DC-DC buck converter. The aim is to improve the performance of standard voltage mode control (VMC), without replacing the linear controller and without drastically affecting the computational burden. The algorithm has been tested both in simulation and experimentally, on commercially available hardware. The results show the performance improvement with respect to the standard VMC, as well as the feasibility of the proposed approach in an embedded platform. Tests with different primal controller tunings, and unknown varying loads, confirm the advantages of the method.

46 citations

Journal ArticleDOI
TL;DR: An algorithm is presented that drastically reduces this computational complexity for a particular class of LPV systems when the input matrix is right-invertible, and the rebuild phase of the QP problem can be accelerated by means of a coordinate transformation which approximates the original formulation.
Abstract: The use of linear parameter varying (LPV) prediction models has been proven to be an effective solution to develop model predictive control (MPC) algorithms for linear and non-linear systems. However, the computational effort is a crucial issue for LPV-MPC, which has severely limited its application especially in embedded control. Indeed, for dynamical systems of dimension commonly found in embedded applications, the time needed to form the quadratic programming (QP) problem at each time step, can be substantially higher than the average time to solve it, making the approach infeasible in many control boards. This study presents an algorithm that drastically reduces this computational complexity for a particular class of LPV systems. They show that when the input matrix is right-invertible, the rebuild phase of the QP problem can be accelerated by means of a coordinate transformation which approximates the original formulation. Then they introduce a variant of the algorithm, able to further reduce this time, at the cost of a slightly increased sub-optimality. The presented results on vehicle dynamics and electrical motor control confirm the effectiveness of the two novel methods, especially in those applications where computational load is a key indicator for success.

23 citations

Journal ArticleDOI
TL;DR: The main contribution of this paper is the introduction in the MPC of a fault tolerant action, in order to improve control performance in actuators' fault scenarios.

21 citations

Journal ArticleDOI
TL;DR: In this article, a Model Predictive Control (MPC) based autopilot for a fixed-wing UAV for meteorological data sampling tasks, named Aerosonde, is presented.
Abstract: This paper presents a Model Predictive Control (MPC) based autopilot for a fixed-wing Unmanned Aircraft Vehicle (UAV) for meteorological data sampling tasks, named Aerosonde. Aerosonde missions are featured by predetermined operating conditions, allowing the design of ad-hoc controllers for each control task by using the future knowledge of the reference signals driving the aircraft during operations. To develop the controller, the nonlinear dynamics of the vehicle has been described by a Linear Parameter-Varying (LPV) model identified from the plant data by using a subspace identification technique. The LPV model is used to design a MPC to drive the UAV. Two different Linear Parameter-Varying MPC (MPCLPV) algorithms have been proposed by introducing the previewing technique in the controller due to the a priori knowledge of full reference signals. In the design of the inner Attitude Controller (AC), a future LPV scheduling parameters estimation policy has been introduced (PF −MPCLPV) for improving the control results of the standard Previewing MPCLPV (P-MPCLPV). Furthermore, an anticipative switching approach (PS −MPCS) has been considered for the altitude External Controller (EC) to improve the control performances of the standard previewing switching MPC (P-MPCS). Both PF −MPCLPV and PS −MPCS algorithms have been compared to the P-MPCLPV and P-MPCS baseline algorithms, showing the effectiveness of proposed methods.

20 citations

Proceedings ArticleDOI
27 Oct 2014
TL;DR: The development of a smart navigation system applied to an electric wheelchair that is able to localize the wheelchair while it is moving in an indoor environment and exploits a low cost hardware and an integrated open source software which permit a cheap integration with already available electric wheelchairs.
Abstract: Commercial electric-power wheelchairs have become much cheaper in the recent years, likewise the availability of reduced size sensors to an affordable price has made their integration easier in this kind of vehicle. This paper presents the development of a smart navigation system applied to an electric wheelchair. The developed work falls within the Ambient Assisted Living field (AAL), which includes all the technologies whose aim is to improve the quality of life of people in the home environment, especially for the elderly and physically impaired. In particular, the present work is focused on the development of technological support aimed at improving the daily life of that population segment who has motor difficulties, and is forced to use personal mobility support systems such as a wheelchair. This system is able to localize the wheelchair while it is moving in an indoor environment. The system exploits a low cost hardware and an integrated open source software, which permit a cheap integration with already available electric wheelchairs.

20 citations


Cited by
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Journal ArticleDOI
TL;DR: This paper systematically presents the international SW research effort, starting with an introduction to PWs and the communities they serve, and discusses in detail the SW and associated technological innovations with an emphasis on the most researched areas, generating the most interest for future research and development.
Abstract: A smart wheelchair (SW) is a power wheelchair (PW) to which computers, sensors, and assistive technology are attached. In the past decade, there has been little effort to provide a systematic review of SW research. This paper aims to provide a complete state-of-the-art overview of SW research trends. We expect that the information gathered in this study will enhance awareness of the status of contemporary PW as well as SW technology and increase the functional mobility of people who use PWs. We systematically present the international SW research effort, starting with an introduction to PWs and the communities they serve. Then, we discuss in detail the SW and associated technological innovations with an emphasis on the most researched areas, generating the most interest for future research and development. We conclude with our vision for the future of SW research and how to best serve people with all types of disabilities.

149 citations

Book ChapterDOI
01 Jan 2001
TL;DR: In this paper, the optimal aspect of the synthetic aperture processing and its uses in air-borne and space-borne imaging radar applications is discussed, where the received signal is expressed in relation to the transmitted signal and target range.
Abstract: Synthetic aperture is a method used to improve radar resolution in azimuth or in the direction of the velocity vector of platform. This resolution is comparable with the one that is obtained by a very large physical antenna. This chapter focuses on the optimal aspect of the synthetic aperture processing and its uses in air-borne and space-borne imaging radar applications. The synthetic aperture effect is obtained by displacement of the platform or target. Focused synthetic aperture processing takes into account the variation of target angular position with radar velocity during illumination. The received signal is expressed in relation to the transmitted signal and target range. Unfocused synthetic aperture processing is performed by a simple spectral analysis that is matched to targets located at infinity. The processing of unfocused synthetic aperture is optimum when illumination time is very short. If the illumination time is sufficiently long, the received signal is linearly frequency modulated. Target illumination time depends on antenna aperture, platform velocity, and the distance between the radar and the target. A pulse waveform of low repetition frequency is generally used in synthetic aperture radar (SAR). The time and Doppler ambiguities are related to the value of the repetition period.

143 citations

Journal ArticleDOI
TL;DR: It has been observed that appropriate control strategies has to be implemented for reducing tracking error, position error and non-linear characteristic of piezoelectric actuator namely hysteresis and creep.

108 citations

Journal ArticleDOI
TL;DR: A review of latest AGVs and AMRs research results in the past decade is presented and novel integration ideas by which tactile Internet, 5G network slicing and virtual reality applications can be used to facilitate AGV and AMR based factory of the future (FoF) and smart manufacturing applications were motivated.
Abstract: In industrial environments, over several decades, Automated Guided Vehicles (AGVs) and Autonomous Mobile Robots (AMRs) have served to improve efficiencies of intralogistics and material handling tasks. However, for system integrators, the choice and effective deployment of improved, suitable and reliable communication and control technologies for these unmanned vehicles remains a very challenging task. Specifics of communication for AGVs and AMRs imposes stringent performance requirements on latency and reliability of communication links which many existing wireless technologies struggle to satisfy. In this paper, a review of latest AGVs and AMRs research results in the past decade is presented. The review encompasses results from different past and present research domains of AGVs. In addition, performance requirements of communication networks in terms of their latencies and reliabilities when they are deployed for AGVs and AMRs coordination, control and fleet management in smart manufacturing environments are discussed. Integration challenges and limitations of present state-of-the-art AGV and AMR technologies when those technologies are used for facilitating AGV-based smart manufacturing and factory of the future applications are also thoroughly discussed. The paper also present a thorough discussion of areas in need of further research regarding the application of 5G networks for AGVs and AMRs fleet management in smart manufacturing environments. In addition, novel integration ideas by which tactile Internet, 5G network slicing and virtual reality applications can be used to facilitate AGV and AMR based factory of the future (FoF) and smart manufacturing applications were motivated.

107 citations

Posted Content
TL;DR: In this article, the authors provide a complete state-of-the-art overview of smart wheelchair research trends, focusing on the most researched areas, generating the most interest for future research and development.
Abstract: A smart wheelchair (SW) is a power wheelchair (PW) to which computers, sensors, and assistive technology are attached. In the past decade, there has been little effort to provide a systematic review of SW research. This paper aims to provide a complete state-of-the-art overview of SW research trends. We expect that the information gathered in this study will enhance awareness of the status of contemporary PW as well as SW technology, and increase the functional mobility of people who use PWs. We systematically present the international SW research effort, starting with an introduction to power wheelchairs and the communities they serve. Then we discuss in detail the SW and associated technological innovations with an emphasis on the most researched areas, generating the most interest for future research and development. We conclude with our vision for the future of SW research and how to best serve people with all types of disabilities.

85 citations