scholarly journals Adaptive control allocation

Automatica ◽  
2008 ◽  
Vol 44 (11) ◽  
pp. 2754-2765 ◽  
Author(s):  
Johannes Tjønnås ◽  
Tor A. Johansen
Keyword(s):  
Adaptive Control ◽  
Control Allocation

scholarly journals A Fault Tolerant Vehicle Stability Control Using Adaptive Control Allocation

2018 ◽  
Author(s):  
Ozan Temiz ◽  
Melih Cakmakci ◽  
Yildiray Yildiz
Keyword(s):  
Adaptive Control ◽  
Fault Tolerant ◽  
Stability Control ◽  
Steering Wheel ◽  
Slip Angle ◽  
Control Allocation ◽  
Control Input ◽  
Allocation Strategy ◽  
Virtual Control ◽  
Yaw Stability

This paper presents an integrated fault-tolerant adaptive control allocation strategy for four wheel frive - four wheel steering ground vehicles to increase yaw stability. Conventionally, control of brakes, motors and steering angles are handled separately. In this study, these actuators are controlled simultaneously using an adaptive control allocation strategy. The overall structure consists of two steps: At the first level, virtual control input consisting of the desired traction force, the desired moment correction and the required lateral force correction to maintain driver’s intention are calculated based on the driver’s steering and throttle input and vehicle’s side slip angle. Then, the allocation module determines the traction forces at each wheel, front steering angle correction and rear steering wheel angle, based on the virtual control input. Proposed strategy is validated using a non-linear three degree of freedom reduced two-track vehicle model and results demonstrate that the vehicle can successfully follow the reference motion while protecting yaw stability, even in the cases of device failure and changed road conditions.

scholarly journals Adaptive control allocation for constrained systems

Automatica ◽  
2020 ◽  
Vol 121 ◽  
pp. 109161
Author(s):  
Seyed Shahabaldin Tohidi ◽  
Yildiray Yildiz ◽  
Ilya Kolmanovsky
Keyword(s):  
Adaptive Control ◽  
Constrained Systems ◽  
Control Allocation

An adaptive control allocator for autonomous vehicles with parameter uncertainty

2018 ◽  
Vol 232 (7) ◽  
pp. 807-818
Author(s):  
Dong-liang Chen ◽  
Guo-ping Liu
Keyword(s):  
Adaptive Control ◽  
Theoretical Analysis ◽  
Parameter Uncertainty ◽  
Autonomous Vehicles ◽  
Reference Model ◽  
Digital Simulation ◽  
Control Allocation ◽  
Allocation Scheme ◽  
Negative Effects ◽  
The Stability

In this article, an adaptive control allocation scheme for a class of nonlinear vehicles is proposed. The parameter uncertainty of the effectors is considered in the design of the control allocation algorithm. A reference model is integrated in the framework to overcome the negative effects brought by the parameter uncertainty. The optimum of the solution is discussed for a class of objectives. Stability proof is given. Compared to most existing methods, the conditions to guarantee the stability of the system are relaxed, which is addressed in the theoretical analysis and the experiment. Finally, a digital simulation and an experiment based on a spacecraft simulator are implemented. The results of the simulation and the experiment validate the effectiveness and advantages of the proposed adaptive control allocator.

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