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An Iterative Learning Control Approach to Improving Fidelity in Internet-Distributed Hardware-in-the-Loop Simulation

[+] Author Affiliations
Tulga Ersal, Jeffrey L. Stein

University of Michigan, Ann Arbor, MI

Mark Brudnak

The U.S. Army Tank-Automotive Research, Development and Engineering Center, Warren, MI

Paper No. DSCC2012-MOVIC2012-8677, pp. 373-382; 10 pages
  • ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
  • Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control
  • Fort Lauderdale, Florida, USA, October 17–19, 2012
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4529-5
  • Copyright © 2012 by ASME


One of the main challenges of co-simulating hardware-in-the-loop systems in real-time over the Internet is the fidelity of the simulation. The dynamics of the Internet may significantly distort the dynamics of the network-integrated system. This paper presents the development of an iterative learning control based approach to improve fidelity of such networked system integration. Towards this end, a new metric for characterizing fidelity is proposed first, which, unlike some existing metrics, does not require knowledge about the reference dynamics (i.e., dynamics that would be observed, if the system was physically connected). Next, using this metric, the problem of improving fidelity is formulated as an iterative learning control problem. Finally, the proposed approach is illustrated on a purely simulation-based case study. The conclusion is that the proposed approach holds significant potential for achieving high fidelity levels.

Copyright © 2012 by ASME



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