Model predictive controller–based spatiotemporal path tracking method for transhumeral prostheses

2019 ◽  
Vol 15 (3) ◽  
Author(s):  
Kanishka Madusanka Dannangoda Gamage ◽  
R.A. Ruwan C. Gopura ◽  
Y.W. Ranjith Amarasinghe ◽  
George K.I. Mann
Keyword(s):  
Path Tracking ◽  
Model Predictive Controller ◽  
Tracking Method ◽  
Predictive Controller ◽  
Path Tracking Method

scholarly journals Research on Model Predictive Control for Automobile Active Tilt Based on Active Suspension

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 671
Author(s):  
Jialing Yao ◽  
Meng Wang ◽  
Zhihong Li ◽  
Yunyi Jia
Keyword(s):  
Load Transfer ◽  
Ride Comfort ◽  
Active Suspension ◽  
Path Tracking ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Model Predictive Controller ◽  
Advantages And Disadvantages ◽  
Predictive Controller

To improve the handling stability of automobiles and reduce the odds of rollover, active or semi-active suspension systems are usually used to control the roll of a vehicle. However, these kinds of control systems often take a zero-roll-angle as the control target and have a limited effect on improving the performance of the vehicle when turning. Tilt control, which actively controls the vehicle to tilt inward during a curve, greatly benefits the comprehensive performance of a vehicle when it is cornering. After analyzing the advantages and disadvantages of the tilt control strategies for narrow commuter vehicles by combining the structure and dynamic characteristics of automobiles, a direct tilt control (DTC) strategy was determined to be more suitable for automobiles. A model predictive controller for the DTC strategy was designed based on an active suspension. This allowed the reverse tilt to cause the moment generated by gravity to offset that generated by the centrifugal force, thereby significantly improving the handling stability, ride comfort, vehicle speed, and rollover prevention. The model predictive controller simultaneously tracked the desired tilt angle and yaw rate, achieving path tracking while improving the anti-rollover capability of the vehicle. Simulations of step-steering input and double-lane change maneuvers were performed. The results showed that, compared with traditional zero-roll-angle control, the proposed tilt control greatly reduced the occupant’s perceived lateral acceleration and the lateral load transfer ratio when the vehicle turned and exhibited a good path-tracking performance.

scholarly journals Near Time-Optimal Path Tracking Method for Waiter Motion Problem

2017 ◽  
Vol 50 (1) ◽  
pp. 4929-4934 ◽  
Author(s):  
Gábor Csorvási ◽  
Ákos Nagy ◽  
István Vajk
Keyword(s):  
Optimal Path ◽  
Path Tracking ◽  
Tracking Method ◽  
Time Optimal ◽  
Motion Problem ◽  
Path Tracking Method

scholarly journals Research on Displacement Mode and Path Tracking Method of Square Combined Deployable Mechanism

2019 ◽  
Vol 37 (6) ◽  
pp. 1200-1208
Author(s):  
Jianfeng Li ◽  
Sanmin Wang ◽  
Qi'an Peng ◽  
Fei Li
Keyword(s):  
Bifurcation Point ◽  
Screw Theory ◽  
Path Tracking ◽  
Singular Value ◽  
Motion Path ◽  
Tracking Method ◽  
Bifurcation Phenomenon ◽  
Displacement Mode ◽  
Value Decomposition ◽  
Path Tracking Method

The motion path of the developable mechanism can not only grasp whether the mechanism can move according to the expected law, but also provide theoretical support for motion control. In order to accurately study the kinematics of the square combined mechanism, the mobility of the square combined expandable mechanism is analyzed based on the screw theory and the graph theory. Then, the balance matrix of the square combined expandable mechanism is derived, and the displacement mode of the square combined expandable mechanism is obtained through singular value decomposition. Secondly, the path tracking method of the square combined expandable mechanism is established by the iteration of the displacement mode. Finally, by means of the example analysis, the position of the bifurcation point of the square combined expandable mechanism is determined; the variation law of the bifurcation point and its positive correlation with the singular value of the balance matrix is analyzed. It is found that adding additional constraints and planning a reasonable path can avoid bifurcation phenomenon. This research provides necessary reference data for configuration design and parameter optimization of the square combined expandable mechanism.

Switched model predictive controller for path tracking of autonomous vehicle considering rollover stability

2021 ◽  
pp. 1-20
Author(s):  
Ying Tian ◽  
Qiangqiang Yao ◽  
Chengqiang Wang ◽  
Shengyuan Wang ◽  
Jiaqi Liu ◽  
...  
Keyword(s):  
Autonomous Vehicle ◽  
Path Tracking ◽  
Model Predictive Controller ◽  
Predictive Controller ◽  
Rollover Stability
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