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Mattia Bruschetta

Publications and source records attributed to Mattia Bruschetta.

9 recordsLinked to original sources

Physics-Informed Condition Monitoring of SiC Power Modules

Silicon carbide (SiC) power modules are increasingly deployed in automotive traction inverters, where condition monitoring is essential to prevent in-service failures. Despite extensive qualification under AQG 324, no consolidated approach exists for in-field health state estimation: physics-of-failure lifetime models lack real-time applicability, purely data-driven architectures require large labeled datasets and generalize poorly, and physics-informed frameworks remain too demanding for embedded deployment. We address SiC MOSFET modules assembled with sintered packaging, which suppresses solder degradation and produces aging behavior distinct from previously studied devices. Instead of the smooth quasi-exponential drift of solder-based modules, the forward voltage drop $V_{DS}$ exhibits multi-regime profiles, with wirebond liftoff events introducing abrupt, non-monotonic perturbations. We propose a condition monitoring framework combining three elements. First, physics-informed features replace raw sensor signals with cumulative damage indicators derived from junction temperature swing, mean junction temperature and a Miner rule accumulator, encoding degradation history in an interpretable form. Second, a monotonicity constraint enforced by gradient penalty regularization embeds the expected degradation direction as a physics-guided prior. Third, a heavy-tailed output distribution replaces the point estimate, giving calibrated uncertainty robust to the out-of-distribution variance introduced by liftoff. On an industrial power cycling dataset from Infineon Technologies, several neural architectures are compared under a strict cross-validation protocol. The full configuration reduces mean absolute error by approximately 70% over purely data-driven baselines and stays stable across all folds, while remaining lightweight enough for embedded deployment.

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Failure-Mechanism Transferability of Cumulative-Damage Features for Health State Estimation of SiC Power Modules

Data-driven health-state estimators for SiC (Silica-Carbide) power modules typically report their performance on a single accelerated-aging campaign, and how that performance transfers to a different failure mechanism is rarely tested. We benchmark five reference methods from the prognostics and condition-monitoring literature against a physics-informed NODE (Neural Ordinary Differential Equation) on two SiC power-cycling campaigns driven by structurally different failure mechanisms, solder-layer fatigue and wire-bond lift-off, under a per-module $k$-fold protocol. The NODE is evaluated under two input regimes that share the rest of the pipeline: the baseline electrical precursors and a set of cumulative thermoelectric features. Every reference method degrades on the wire-bond campaign, with average errors growing and precision decreasing with respect to their performance on the soldered campaign. The NODE fed with the cumulative features keeps its soldered-campaign metrics on both mechanisms, with differences inside the fold-to-fold variance, while the same architecture fed with the baseline precursors falls back to the reference-method cluster. The input representation contributes at least as much as the architecture to failure-mechanism transferability of a health-state estimator.

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A Model Predictive Control Framework for Assisted Vehicle Drifting

Model Predictive Control (MPC) has been widely applied to autonomous vehicle drifting. Assisted drifting, that is where the driver remains in the loop, is still comparatively underexplored. Existing approaches often rely on restrictive assumptions, such as precomputed drift equilibria, full actuation authority, or prior path knowledge, which limit applicability to expert drivers. This paper proposes a nonlinear model predictive control (NMPC) framework for assisted drifting on a rear-wheel-drive vehicle. Through steer-by-wire and drive-by-wire interfaces, the controller decouples driver commands from direct actuator inputs, allowing the driver to regulate the desired sideslip through the steering wheel while the NMPC maintains vehicle stability. A dedicated activation logic ensures that the controller engages only under deliberate driver intent. High-fidelity simulations show that the proposed architecture can stabilize drifting maneuvers using a simple single-track prediction model with basic tire dynamics, even when the sideslip reference is continuously varied by the driver.

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Data-driven Power Loss Identification through Physics-Based Thermal Model Backpropagation

Digital twins for power electronics require accurate power losses whose direct measurements are often impractical or impossible in real-world applications. This paper presents a novel hybrid framework that combines physics-based thermal modeling with data-driven techniques to identify and correct power losses accurately using only temperature measurements. Our approach leverages a cascaded architecture where a neural network learns to correct the outputs of a nominal power loss model by backpropagating through a reduced-order thermal model. We explore two neural architectures, a bootstrapped feedforward network, and a recurrent neural network, demonstrating that the bootstrapped feedforward approach achieves superior performance while maintaining computational efficiency for real-time applications. Between the interconnection, we included normalization strategies and physics-guided training loss functions to preserve stability and ensure physical consistency. Experimental results show that our hybrid model reduces both temperature estimation errors (from 7.2+-6.8°C to 0.3+-0.3°C) and power loss prediction errors (from 5.4+-6.6W to 0.2+-0.3W) compared to traditional physics-based approaches, even in the presence of thermal model uncertainties. This methodology allows us to accurately estimate power losses without direct measurements, making it particularly helpful for real-time industrial applications where sensor placement is hindered by cost and physical limitations.

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A Sim-to-Real Vision-based Lane Keeping System for a 1:10-scale Autonomous Vehicle

In recent years, several competitions have highlighted the need to investigate vision-based solutions to address scenarios with functional insufficiencies in perception, world modeling and localization. This article presents the Vision-based Lane Keeping System (VbLKS) developed by the DEI-Unipd Team within the context of the Bosch Future Mobility Challenge 2022. The main contribution lies in a Simulation-to-Reality (Sim2Real) GPS-denied VbLKS for a 1:10-scale autonomous vehicle. In this VbLKS, the input to a tailored Pure Pursuit (PP) based control strategy, namely the Lookahead Heading Error (LHE), is estimated at a constant lookahead distance employing a Convolutional Neural Network (CNN). A training strategy for a compact CNN is proposed, emphasizing data generation and augmentation on simulated camera images from a 3D Gazebo simulator, and enabling real-time operation on low-level hardware. A tailored PP-based lateral controller equipped with a derivative action and a PP-based velocity reference generation are implemented. Tuning ranges are established through a systematic time-delay stability analysis. Validation in a representative controlled laboratory setting is provided.

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A Learning-based Nonlinear Model Predictive Controller for a Real Go-Kart based on Black-box Dynamics Modeling through Gaussian Processes

Lately, Nonlinear Model Predictive Control (NMPC)has been successfully applied to (semi-) autonomous driving problems and has proven to be a very promising technique. However, accurate control models for real vehicles could require costly and time-demanding specific measurements. To address this problem, the exploitation of system data to complement or derive the prediction model of the NMPC has been explored, employing learning dynamics approaches within Learning-based NMPC (LbNMPC). Its application to the automotive field has focused on discrete grey-box modeling, in which a nominal dynamics model is enhanced by the data-driven component. In this manuscript, we present an LbNMPC controller for a real go-kart based on a continuous black-box model of the accelerations obtained by Gaussian Processes. We show the effectiveness of the proposed approach by testing the controller on a real go-kart vehicle, highlighting the approximation steps required to get an exploitable GP model on a real-time application.

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An Efficient Move Blocking Strategy for Multiple Shooting based Nonlinear Model Predictive Control

Move blocking (MB) is a widely used strategy to reduce the degrees of freedom of the Optimal Control Problem (OCP) arising in receding horizon control. The size of the OCP is reduced by forcing the input variables to be constant over multiple discretization steps. In this paper, we focus on developing computationally efficient MB schemes for multiple shooting based nonlinear model predictive control (NMPC). The degrees of freedom of the OCP is reduced by introducing MB in the shooting step, resulting in a smaller but sparse OCP. Therefore, the discretization accuracy and level of sparsity is maintained. A condensing algorithm that exploits the sparsity structure of the OCP is proposed, that allows to reduce the computation complexity of condensing from quadratic to linear in the number of discretization nodes. As a result, active-set methods with warm-start strategy can be efficiently employed, thus allowing the use of a longer prediction horizon. A detailed comparison between the proposed scheme and the nonuniform grid NMPC is given. Effectiveness of the algorithm in reducing computational burden while maintaining optimization accuracy and constraints fulfillment is shown by means of simulations with two different problems.

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MATMPC - A MATLAB Based Toolbox for Real-time Nonlinear Model Predictive Control

In this paper we introduce MATMPC, an open source software built in MATLAB for nonlinear model predictive control (NMPC). It is designed to facilitate modelling, controller design and simulation for a wide class of NMPC applications. MATMPC has a number of algorithmic modules, including automatic differentiation, direct multiple shooting, condensing, linear quadratic program (QP) solver and globalization. It also supports a unique Curvature-like Measure of Nonlinearity (CMoN) MPC algorithm. MATMPC has been designed to provide state-of-the-art performance while making the prototyping easy, also with limited programming knowledge. This is achieved by writing each module directly in MATLAB API for C. As a result, MATMPC modules can be compiled into MEX functions with performance comparable to plain C/C++ solvers. MATMPC has been successfully used in operating systems including WINDOWS, LINUX AND OS X. Selected examples are shown to highlight the effectiveness of MATMPC.

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An Adaptive Partial Sensitivity Updating Scheme for Fast Nonlinear Model Predictive Control

In recent years, efficient optimization algorithms for Nonlinear Model Predictive Control (NMPC) have been proposed, that significantly reduce the on-line computational time. In particular, direct multiple shooting and Sequential Quadratic Programming (SQP) are used to efficiently solve Nonlinear Programming (NLP) problems arising from continuous-time NMPC applications. One of the computationally demanding steps for on-line optimization is the computation of sensitivities of the nonlinear dynamics at every sampling instant, especially for systems of large dimensions, strong stiffness, and when using long prediction horizons. In this paper, within the algorithmic framework of the Real-Time Iteration (RTI) scheme based on multiple shooting, an inexact sensitivity updating scheme is proposed, that performs a partial update of the Jacobian of the constraints in the NLP. Such update is triggered by using a Curvature-like Measure of Nonlinearity (CMoN), so that only sensitivities exhibiting highly nonlinear behaviour are updated, thus adapting to system operating conditions and possibly reducing the computational burden. An advanced tuning strategy for the updating scheme is provided to automatically determine the number of sensitivities being updated, with a guaranteed bounded error on the Quadratic Programming (QP) solution. Numerical and control performance of the scheme is evaluated by means of two simulation examples performed on a dedicated implementation. Local convergence analysis is also presented and a tunable convergence rate is proven, when applied to the SQP method.

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