scholarly journals Solutions of Continuous-Time Preview Two-Player Differential Games

1999 ◽  
Vol 121 (2) ◽  
pp. 326-331 ◽  
Author(s):  
Wen-Hou Ma ◽  
Huei Peng
Keyword(s):  
Continuous Time ◽  
Closed Loop ◽  
Infinite Horizon ◽  
Game Problem ◽  
Closed Loop System ◽  
Vehicle Handling ◽  
Actuator Dynamics ◽  
Horizon Problem ◽  
Input Signals ◽  
Improved Performance

The continuous-time two-player preview game problems are studied in this paper. A preview game problem is formulated when the input signals generated by one of the two players are delayed (e.g., by actuator dynamics), and are previewed by the other player. In accordance with the control terminology, these two players are referred to as the control player and the disturbance player, respectively. Both control-advantaged and disturbance-advantaged game solutions are presented. When the solution of an infinite horizon problem exists, the response of the closed-loop system can be analyzed in the frequency domain. A vehicle handling problem is used as an example for the analysis. It is shown that the preview action of the advantaged player effectively reduces the authority of the disadvantaged player, and results in significantly improved performance compared with feedback-only game algorithms.

scholarly journals Modelling and Simulation of Skid Prediction in a Passenger Car

2019 ◽  
Vol 8 (2S3) ◽  
pp. 854-859
Keyword(s):  
Mathematical Model ◽  
Real Time ◽  
Closed Loop ◽  
Modelling And Simulation ◽  
Slip Angle ◽  
Closed Loop System ◽  
Passenger Car ◽  
Vehicle Handling ◽  
The Road ◽  
Driving Scenario

The vehicle handling is defined as the responsiveness of a vehicle to the driver input. The driver and vehicle is a closed loop system where the driver observes the direction or position of the vehicle in order to correct his input to achieve the desired motion. It is required for the driver to safely ride the vehicle particularly during cornering, acceleration and braking in order to avoid skidding. The skid occurring in a vehicle is a condition in automobile handling where one or more tyres slip relative to the road and the overall vehicle handling gets affected. Tire slip and related slip angle describe the performance of an individual tire. The cornering behaviour of a vehicle is one of the important modes in handling. In this project, a mathematical model is build using MATLAB-SIMULINK for a passenger car undergoing cornering. The steer angles for various speeds and radius of turns are determined and the results are displayed in the form of graphs. An app is designed using the MATLAB app designer which predicts the type of skid- under steer, over steer or neutral steer while the vehicle is undergoing cornering. This system is then simulated in the real time environment with the help of IPG Carmaker and driving scenario designer app in MATLAB and the corresponding results are noted

Analysis of Disturbance Signals in Steel Rolling Process

2012 ◽  
Vol 490-495 ◽  
pp. 3065-3069
Author(s):  
Wei Yan ◽  
Jie Zhang ◽  
Ying Sheng Zhou
Keyword(s):  
Transfer Function ◽  
Control Systems ◽  
Output Signal ◽  
Closed Loop ◽  
Rolling Process ◽  
Closed Loop System ◽  
Steel Rolling ◽  
Input Signals ◽  
Low Pass ◽  
System Transfer Function

Many control systems are subject to extraneous disturbance signals that cause the system to provide an inaccurate output. The extraneous disturbance signals in steel rolling process are analysis in this paper. If the frequency spectrums of the noise and input signals are of a different character, the output signal-noise ratio can be maximized, often by simply designing a closed-loop system transfer function that has a low-pass frequency response.

scholarly journals Oscillations in First-Order, Continuous-Time Systems via Time-Delay Feedback

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-14
Author(s):  
Abimael Salcedo ◽  
Joaquin Alvarez
Keyword(s):  
Continuous Time ◽  
Closed Loop ◽  
Equilibrium Points ◽  
Nonlinear Function ◽  
Loop System ◽  
Closed Loop System ◽  
First Order ◽  
Continuous Time Systems ◽  
Time Systems ◽  
Order Continuous

A technique to generate (periodic or nonperiodic) oscillations systematically in first-order, continuous-time systems via a nonlinear function of the state, delayed by a certain time d, is proposed. This technique consists in choosing a nonlinear function of the delayed state with some passivity properties, tuning a gain to ensure that all the equilibrium points of the closed-loop system be unstable, and then imposing conditions on the closed-loop system to be semipassive. We include several typical examples to illustrate the effectiveness of the proposed technique, with which we can generate a great variety of chaotic attractors. We also include a physical example built with a simple electronic circuit that, after applying the proposed technique, displays a similar behavior to the logistic map.

Simulation for Vehicle Handling Performance Based on the Cybernetic Model of “Driver-Vehicle-Road” Closed-Loop System

2011 ◽  
Vol 299-300 ◽  
pp. 1256-1261
Author(s):  
Hui He ◽  
Kun Zhang ◽  
Peng Wang
Keyword(s):  
Closed Loop ◽  
Steering System ◽  
Loop System ◽  
System Model ◽  
Driver Model ◽  
Closed Loop System ◽  
Cybernetic Model ◽  
Vehicle Performance ◽  
Vehicle Handling ◽  
Handling Performance

In this paper, a cybernetic model of “driver-vehicle-road” closed-loop system including a driver model and a steering system model is built under the MATLAB/Simulink environment. Then, the influence of different dynamic characteristics of steering system on vehicle handling and stability is studied. The results suggest that the “driver-vehicle” model built has a high tracking precision in following the path; Increasing the rigidity of steering system or decreasing the dilatory distance of front tire can enhance the tracking precision and can minish the driving burden and the fatalness of side-tip, the total evaluation result of vehicle performance will be optimized as well.

Research on Identification of Vehicle Steering Angle

2014 ◽  
Vol 608-609 ◽  
pp. 787-793
Author(s):  
Yu Rui
Keyword(s):  
Closed Loop ◽  
Inverse Dynamics ◽  
High Accuracy ◽  
Lateral Acceleration ◽  
Lane Change ◽  
Closed Loop System ◽  
Steering Angle ◽  
Vehicle Handling ◽  
Double Lane Change ◽  
Simulation Results

Based on Radial Basis Function neural networks , a method of identifying vehicle steering angle is proposed for further investigation of the vehicle handling inverse dynamics. According to the simulation results of a two-degree-freedom closed-loop system and the test of double lane change maneuver, the mapping relationship between vehicle yaw velocity, lateral acceleration and steering angle can be found. The identification results show that the method is not only feasible, but also with high accuracy, little computation requirement and good stability.

3 KHz Servo Bandwidth Demonstration by HDD Tracking Microactuator

2001 ◽  
Author(s):  
Toshiki Hirano ◽  
Matthew White ◽  
Xin H. Yang ◽  
Tetsuo Semba ◽  
Victor Shum ◽  
...  
Keyword(s):  
Continuous Time ◽  
Solder Ball ◽  
Closed Loop ◽  
System Simulation ◽  
Servo System ◽  
Open Loop ◽  
Closed Loop System ◽  
Reflow Process ◽  
Dual Stage ◽  
Suspension Beam

Abstract A demonstration of a closed loop system with a 3 kHz 0 dB open loop crossover using a microactuator in an HDD is reported. An electrostatic rotational microactuator is placed between the suspension beam and the slider, and moves the slider relative to the suspension. A new suspension with extra leads that provide signal to the microactuator was also developed. These leads are electrically connected by a micro-scale solder-ball reflow process. The dual-stage servo experiment was carried out in an HDD and a 3 kHz servo bandwidth was achieved, which is more than twice as high as a conventional servo system. The error rejection function also shows that this dual-stage servo system has superior error rejection capability over the conventional VCM-only servo system. Simulation shows that the bandwidth can be as high as 44 kHz, if a continuous-time servo is used.

scholarly journals A turnpike theorem for continuous-time control systems when the optimal stationary point is not unique

2003 ◽  
Vol 2003 (11) ◽  
pp. 631-650 ◽  
Author(s):  
Musa A. Mamedov
Keyword(s):  
Optimal Control ◽  
Control Systems ◽  
Continuous Time ◽  
Optimal Control Problems ◽  
Infinite Horizon ◽  
Stationary Points ◽  
Control Problems ◽  
Horizon Problem ◽  
Time Control ◽  
Turnpike Theorem

We study the turnpike property for the nonconvex optimal control problems described by the differential inclusionx˙∈a(x). We study the infinite horizon problem of maximizing the functional∫0Tu(x(t))dtasTgrows to infinity. The turnpike theorem is proved for the case when a turnpike set consists of several optimal stationary points.

Robust Control of Robotic Manipulators in the Presence of Dynamic Parameter Uncertainty

1989 ◽  
Vol 111 (3) ◽  
pp. 444-451 ◽  
Author(s):  
J. K. Mills ◽  
A. A. Goldenberg
Keyword(s):  
Parameter Uncertainty ◽  
Closed Loop ◽  
Tracking Error ◽  
Sufficient Conditions ◽  
Dynamic Parameter ◽  
Loop System ◽  
System Stability ◽  
Closed Loop System ◽  
Input Signals ◽  
Asymptotic Tracking

Sufficient conditions are proved for a robotic manipulator controller so that asymptotic tracking/regulation occurs, independent of dynamic parameter uncertainty, for a certain class of input signals. The uncertainty can be quite large, and arise chiefly from the manipulation of payloads with unknown mass/inertia properties. The control is obtained using a robust controller which consists of two separate parts: 1) a compensator which makes the closed-loop robotic system insensitive to parameter uncertainty and generates asymptotic regulation of a certain class of input signals and 2) a stabilizing compensator, whose purpose is to stabilize the closed-loop system. Stability of the closed-loop system is guaranteed by choosing large feedback gains. In addition to the above, it is also shown that the proposed feedback controller provides an arbitrarily small tracking error capability for the particular class of input trajectories.

Analysis of Linear Time Invariant Systems With Time Delay

1992 ◽  
Vol 114 (4) ◽  
pp. 544-555 ◽  
Author(s):  
K. Youcef-Toumi ◽  
S. Reddy
Keyword(s):  
Time Delay ◽  
Continuous Time ◽  
Control Algorithm ◽  
Closed Loop ◽  
Linear Time ◽  
Necessary Condition ◽  
Closed Loop System ◽  
Time Delay Control ◽  
Delay Control ◽  
Continuous Time Delay

Time Delay Control has recently been suggested as an alternative scheme for control of systems with unknown dynamics and unpredictable disturbances. The proposed control algorithm does not require an explicit plant model nor does it depend on the estimation of specific plant parameters. Rather, it uses information in the recent past to directly estimate the unknown dynamics at any given instant, through time delay. In earlier papers, analysis and implementation of Time Delay Controller for nonlinear systems were discussed. This paper analyzes the continuous Time Delay Controller for a class of linear systems and presents necessary and sufficient conditions for control system stability. A necessary condition for stability is derived using the properties of linear time-delayed systems. This condition involves only a few of the system and controller parameters and facilitates design of the Time Delay Controller. It is proved that this necessary condition is also sufficient if the delay time is chosen to be infinitesimally small. The convergence of closed loop system error to zero for certain classes of inputs and disturbances when the system is stable is also established. It is also shown that certain approximations in the control algorithm and certain additional unmodeled dynamics render the closed loop system under continuous Time Delay Control to be not exponentially stable due to the controller poles on the imaginary axis at infinitely high frequencies. However, in digital implementation, all the signals are prefiltered by anti-aliasing filters prior to sampling. Hence, the highest frequency component is automatically limited and the issue of exponential instability is not encountered. A discussion is presented comparing Time Delay Control with Repetitive Control. It is indicated that the Time Delay Controller can perform the functions of a repetitive controller with the delay time replaced by the period of the reference input while the repetitive controller can perform the functions of Time Delay Controller for sufficiently small “period” for a certain class of linear systems. Furthermore, examples are included to illustrate the results.

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