scholarly journals Model reduction studies in LQG optimal control design for high-speed tilting railway carriages

2006 ◽  
Author(s):  
A. Zolotas ◽  
G. Halikias ◽  
R. Goodall ◽  
Jun Wang
Keyword(s):  
Optimal Control ◽  
Model Reduction ◽  
High Speed ◽  
Control Design ◽  
Lqg Optimal Control

Integrated Structure/Control Design of High Speed Flexible Robots Based on Time Optimal Control

1995 ◽  
Vol 117 (4) ◽  
pp. 503-512 ◽  
Author(s):  
Sudhendu Rai ◽  
Haruhiko Asada
Keyword(s):  
Optimal Control ◽  
Finite Element ◽  
High Speed ◽  
Control Design ◽  
Design Criterion ◽  
Time Optimal Control ◽  
Design Parameters ◽  
Element Analysis ◽  
Structure Control ◽  
Time Optimal

This paper presents the integrated structure/control design of high speed single link robots based on time-optimal control and finite element analysis. First, the solutions of a time optimal control problem are analyzed with respect to the arm link inertia and its structural flexibility. A new technique is developed to further reduce the optimal traveling time by redesigning the arm structure through the trade-off analysis between the arm inertia and its natural frequency. In the latter half of the paper, the design criterion is extended to multiple indices by considering residual vibrations, load bearing capacity and other design constraints. For suppressing residual vibrations, a simple feedback control is designed and its dynamic performance with respect to pole-zero locations is improved along with other criteria through mechanical structure modification. The finite element method is used as a modeling tool and the shape of the arm geometry is modified as design parameters. An arm is designed which performs much better as compared to the design which is done without considering the interactions between physical structure and control. The newly designed arm is tested by constructing an experimental setup. The results show significantly improved performance.

scholarly journals Experimental Implementation of a Hybrid Nonlinear Control Design for Magnetostrictive Actuators

2009 ◽  
Vol 131 (4) ◽  
Author(s):  
William S. Oates ◽  
Phillip G. Evans ◽  
Ralph C. Smith ◽  
Marcelo J. Dapino
Keyword(s):  
Optimal Control ◽  
Nonlinear Control ◽  
Tracking Control ◽  
High Speed ◽  
Control Design ◽  
Nonlinear Optimal Control ◽  
Open Loop ◽  
Energy Model ◽  
Switching Behavior ◽  
Homogenized Energy Model

A hybrid nonlinear optimal control design is experimentally implemented on a magnetostrictive Terfenol-D actuator to illustrate enhanced tracking control at relatively high speed. The control design employs a homogenized energy model to quantify rate-dependent nonlinear and hysteretic ferromagnetic switching behavior. The homogenized energy model is incorporated into a finite-dimensional nonlinear optimal control design to directly compensate for the nonlinear and hysteretic magnetostrictive constitutive behavior of the Terfenol-D actuator. Additionally, robustness to operating uncertainties is addressed by incorporating proportional-integral (PI) perturbation feedback around the optimal open loop response. Experimental results illustrate significant improvements in tracking control in comparison to PI control. Accurate displacement tracking is achieved for sinusoidal reference displacements at frequencies up to 1 kHz using the hybrid nonlinear control design, whereas tracking errors become significant for the PI controller for frequencies equal to or greater than 500 Hz.

Energy Optimal Control Design for Steer-by-Wire Systems and Hardware-in-the-Loop Simulation Evaluation

2015 ◽  
Vol 137 (7) ◽  
Author(s):  
M. Selçuk Arslan ◽  
Naoto Fukushima
Keyword(s):  
Optimal Control ◽  
High Speed ◽  
Control Method ◽  
Full Range ◽  
Control Design ◽  
Hardware In The Loop ◽  
Yaw Rate ◽  
Control Scheme ◽  
Steer By Wire ◽  
Hil Simulation

A Steer-By-Wire (SBW) control scheme is proposed for enhancing the lateral stability and handling capability of a super lightweight vehicle by using the energy optimal control method. Tire dissipation power and virtual power, which is the product of yaw moment and the deviation of actual yaw rate from the target yaw rate, were selected as performance measures to be minimized. The SBW control scheme was tested using Hardware-In-the-Loop (HIL) simulation on an SBW test rig. The case studies performed were high-speed rapid lane change, crosswind, and braking-in-a-turn. HIL simulation results showed that the SBW control scheme was able to maintain vehicle stability. The proposed SBW control design taking advantage of the full range steering of front wheel, significantly improves the vehicle handling capability. The results also demonstrate the importance of SBW control for super lightweight vehicles.

Algorithm for optimal allocation of limited resources based on the game iteration method

2019 ◽  
pp. 89-99
Author(s):  
V. Ya. Vilisov
Keyword(s):  
Optimal Control ◽  
Linear Programming ◽  
Embedded Systems ◽  
Iterative Method ◽  
High Speed ◽  
Optimal Allocation ◽  
Software Implementation ◽  
Limited Resources ◽  
Matrix Game ◽  
Acceptable Accuracy

The article proposes an algorithm for solving a linear programming problem (LPP) based on the use of its representation in the form of an antagonistic matrix game and the subsequent solution of the game by an iterative method. The algorithm is implemented as a computer program. The rate of convergence of the estimates of the solution to the actual value with the required accuracy has been studied. The software implementation shows a high speed of obtaining the LPP solution with acceptable accuracy in fractions or units of seconds. This allows the use algorithm in embedded systems for optimal control.

scholarly journals Model Reduction for Parametrized Optimal Control Problems in Environmental Marine Sciences and Engineering

2018 ◽  
Vol 40 (4) ◽  
pp. B1055-B1079 ◽  
Author(s):  
Maria Strazzullo ◽  
Francesco Ballarin ◽  
Renzo Mosetti ◽  
Gianluigi Rozza
Keyword(s):  
Optimal Control ◽  
Model Reduction ◽  
Optimal Control Problems ◽  
Control Problems
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