scholarly journals Handling stability control strategy for four‐wheel hub motor‐driven vehicle based on adaptive control for road adhesion

2022 ◽  
Author(s):  
Li Zhai ◽  
Chengping Wang ◽  
Xueying Zhang ◽  
Rufei Hou ◽  
Yuh Ming Mok ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Stability Control

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

2021 ◽  
pp. 1-31
Author(s):  
S.H. Derrouaoui ◽  
Y. Bouzid ◽  
M. Guiatni
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Experimental Tests ◽  
Generic Model ◽  
System Control ◽  
System A ◽  
Viable Solution ◽  
Generic Modeling ◽  
Adaptive Control Strategy ◽  
The Stability

Abstract Recently, transformable Unmanned Aerial Vehicles (UAVs) have become a subject of great interest in the field of flying systems, due to their maneuverability, agility and morphological capacities. They can be used for specific missions and in more congested spaces. Moreover, this novel class of UAVs is considered as a viable solution for providing flying robots with specific and versatile functionalities. In this paper, we propose (i) a new design of a transformable quadrotor with (ii) generic modeling and (iii) adaptive control strategy. The proposed UAV is able to change its flight configuration by rotating its four arms independently around a central body, thanks to its adaptive geometry. To simplify and lighten the prototype, a simple mechanism with a light mechanical structure is proposed. Since the Center of Gravity (CoG) of the UAV moves according to the desired morphology of the system, a variation of the inertia and the allocation matrix occurs instantly. These dynamics parameters play an important role in the system control and its stability, representing a key difference compared with the classic quadrotor. Thus, a new generic model is developed, taking into account all these variations together with aerodynamic effects. To validate this model and ensure the stability of the designed UAV, an adaptive backstepping control strategy based on the change in the flight configuration is applied. MATLAB simulations are provided to evaluate and illustrate the performance and efficiency of the proposed controller. Finally, some experimental tests are presented.

Stability analysis of adaptive control using fuzzy adapting rate neural emulator: Experimental validation on a thermal process

2021 ◽  
pp. 095965182098818
Author(s):  
Fatma Ezzahra Rhili ◽  
Asma Atig ◽  
Ridha Ben Abdennour ◽  
Fabrice Druaux ◽  
Dimitri Lefebvre
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Thermal Process ◽  
Experimental Validation ◽  
Experimental Simulation ◽  
Neural Controller ◽  
Control Scheme ◽  
Stability Method ◽  
Indirect Adaptive Control ◽  
Adaptive Control Scheme

In this study, an adaptive control based on fuzzy adapting rate for neural emulator of nonlinear systems having unknown dynamics is proposed. The indirect adaptive control scheme is composed by the neural emulator and the neural controller which are connected by an autonomous algorithm inspired from the real-time recurrent learning. In order to ensure stability and faster convergence, a neural controller adapting rate is established in the sense of the continuous Lyapunov stability method. Numerical simulations are included to illustrate the effectiveness of the proposed method. The performance of the proposed control strategy is also demonstrated through an experimental simulation.

Adaptive control strategy-based reference model for spacecraft motion trajectory

2014 ◽  
Vol 29 (5) ◽  
pp. 639-652 ◽  
Author(s):  
Zarina Samigulina ◽  
Olga Shiryayeva ◽  
Galina Samigulina ◽  
Hassen Fourati
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Reference Model ◽  
Motion Trajectory ◽  
Spacecraft Motion ◽  
Adaptive Control Strategy

Identification-Free Adaptive Separate Layer Water Injection Control Based on Expert Amendment

2010 ◽  
Vol 44-47 ◽  
pp. 1470-1475
Author(s):  
Feng Shan Wang ◽  
De Li Jia ◽  
Shu Jin Zhang ◽  
Chong Jiang Liu ◽  
De Kui Xu
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Water Injection ◽  
Strong Nonlinearity ◽  
Separate Layer ◽  
Injection Control ◽  
System Output ◽  
Adaptive Control Strategy ◽  
Injection Effect ◽  
Injection Technology

An identification-free adaptive control strategy based on expert amendment is proposed in this paper to solve the problem that it is difficult to establish mathematical model of water injection regulating process due to large time delay, strong nonlinearity and time variation in the flow control of separate layer water injection technology. In this control strategy, according to the past and current process information of water injection, the system output and trend can be estimated based on expert rules to amend the output of the identification-free adaptive control. The simulation result shows that this control strategy has perfect control performance and strong adaptability and it provides a feasible means for improving water injection effect.

scholarly journals Consensus Based Platoon Algorithm for Velocity-Measurement-Absent Vehicles with Actuator Saturation

2017 ◽  
Vol 2017 ◽  
pp. 1-8 ◽  
Author(s):  
Maode Yan ◽  
Ye Tang ◽  
Panpan Yang ◽  
Lei Zuo
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Smooth Function ◽  
Velocity Measurement ◽  
Actuator Saturation ◽  
Sharp Corner ◽  
Control Approach ◽  
Input Signals ◽  
Vehicle Platoon ◽  
Novel Algorithm

We investigate the vehicle platoon problems, where the actuator saturation and absent velocity measurement are taken into consideration. Firstly, a novel algorithm, where a smooth function is introduced to deal with the sharp corner of the input signals, is proposed for a group of vehicles with actuator saturation by using the consensus theory. Secondly, by applying an auxiliary system for the followers to estimate the velocities, a control strategy for the vehicle platoon with actuator saturation and absent velocity measurement is designed via the adaptive control approach. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches.

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