A Unified Hamiltonian Approach for LQ and H∞ Preview Control Algorithms

1999 ◽  
Vol 121 (3) ◽  
pp. 365-369 ◽  
Author(s):  
Lawrence Mianzo ◽  
Huei Peng
Keyword(s):  
Discrete Time ◽  
Tracking Control ◽  
Control Algorithms ◽  
Hamiltonian Approach ◽  
Test Rig ◽  
Preview Control ◽  
Durability Test ◽  
Simulation Results

A framework for solving both the continuous and discrete-time LQ and H∞ preview control algorithms is presented in this paper. The tracking control of an automotive durability test rig is used as an application example. Simulation results are presented to illustrate the effectiveness of the preview control algorithms.

Digital robust preview control of path tracking

2005 ◽  
Vol 219 (1) ◽  
pp. 111-116
Author(s):  
Y G Tan ◽  
D K Liu ◽  
F Liu ◽  
Z D Zhou
Keyword(s):  
Control Systems ◽  
Tracking Control ◽  
Control Method ◽  
Path Tracking ◽  
Trajectory Control ◽  
Control Problems ◽  
Preview Control ◽  
Input Signals ◽  
Simulation Results ◽  
Reference Input

A robust optimal preview control method is presented in this paper for path tracking control problems to improve robustness and tracking precision of path tracking control systems. The known path information is used as reference input signals. Simulation results show that this method is valid not only for improving the performance of highly accurate trajectory control but also for improving system stabilization.

Optimal Tracking Control for Discrete-time Systems with Time-delay Based on the Preview Control Method

2019 ◽  
Vol 7 (5) ◽  
pp. 452-461
Author(s):  
Haishan Xu ◽  
Fucheng Liao
Keyword(s):  
Optimal Control ◽  
Time Delay ◽  
Discrete Time ◽  
Tracking Control ◽  
Control Method ◽  
Reference Signal ◽  
Control Law ◽  
Preview Control ◽  
Optimal Tracking ◽  
Delayed System

Abstract In this paper, the optimal tracking control problem for discrete-time with state and input delays is studied based on the preview control method. First, a transformation is introduced. Thus, the system is transformed into a non-delayed system and the tracking problem of the time-delay system is transformed into the regulation problem of a non-delayed system via processing of the reference signal. Then, by applying the preview control theory, an augmented system for the non-delayed system is derived, and a controller with preview function is designed, assuming that the reference signal is previewable. Finally, the optimal control law of the augmented error system and the optimal control law of the original system are obtained by letting the preview length of the reference signal go to zero.

Cancellation of Discrete Time Unstable Zeros by Feedforward Control

1994 ◽  
Vol 116 (1) ◽  
pp. 33-38 ◽  
Author(s):  
Eric Gross ◽  
Masayoshi Tomizuka ◽  
William Messner
Keyword(s):  
Unit Circle ◽  
Discrete Time ◽  
Tracking Control ◽  
Design Methodology ◽  
Feedforward Control ◽  
Design Specifications ◽  
Discrete Time Systems ◽  
Rational Transfer ◽  
Simulation Results ◽  
Time Systems

This paper presents a design methodology for the cancellation of unstable zeros in linear discrete time systems with tracking control objectives. Unstable zeros are defined to be those zeros of the rational transfer function that occur outside the unit circle. Unstable zeros cannot be canceled by feedback without compromising stability. In light of this fact, a feedforward scheme is used. Future desired trajectory information is required because the feedforward scheme is noncausal. The amount of future desired trajectory information that is required depends upon the zero locations and design specifications. It is shown that for a known plant with no zeros on the unit circle one can obtain a frequency response arbitrarily close to 1. Robustness issues and simulation results are discussed.

Tracking Controller Design for MIMO Nonlinear Systems With Application to Automotive Cold Start Emission Reduction

2015 ◽  
Vol 137 (10) ◽  
Author(s):  
Selina Pan ◽  
J. Karl Hedrick
Keyword(s):  
Discrete Time ◽  
Model Uncertainty ◽  
Controller Design ◽  
Tracking Error ◽  
Cold Start ◽  
Verification And Validation ◽  
Control Algorithms ◽  
Adaptation Algorithm ◽  
Tracking Controller ◽  
Simulation Results

The main contribution of this paper is the development of a nonlinear multiple-input, multiple-output (MIMO) tracking controller design using a discrete time sliding control approach. A Lyapunov stability analysis is used to prove the asymptotic stability of both the output errors as well as the parameter estimation errors. The application of the “New Invariance Principle” is key to the proof of the parameter error convergence. The developed approach is applied to the cold start emissions problem. The software design process for automotive powertrains on vehicles is growing increasingly complex. Verification and validation provides a systematic procedure to follow for the implementation of control algorithms on physical systems. However, errors can arise that prove costly if not mitigated early on in the verification and validation process. Therefore, the detection and mitigation of potential uncertainties early on in the design process is vital. In this work, the determination of the system model uncertainty is the focus of an adaptation algorithm designed in parallel with a discrete time, MIMO sliding controller. The unknown parameter representing the model uncertainty is updated online in order to decrease tracking error and control effort. The MIMO formulation allows for implementation of both coupled and decoupled frameworks, thus providing a basis for the algorithm to be utilized on a variety of complex vehicle systems. The control algorithms are implemented on a cold start emissions engine model as a case study. A matlab simulink environment is used for simulation results, and an engine test cell is used for experimental validation. Simulation results demonstrate that the algorithm drives tracking error to zero in a fraction of the run time and that the algorithm may be applied with equal efficacy to coupled and decoupled systems. Experimental results demonstrate the ability of the adaptation algorithm to estimate uncertainty in the engine and decrease tracking error.

scholarly journals Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications

2019 ◽  
Vol 2019 ◽  
pp. 1-15 ◽  
Author(s):  
Gustavo Scaglia ◽  
Emanuel Serrano ◽  
Andres Rosales ◽  
Pedro Albertos
Keyword(s):  
Mobile Robot ◽  
Discrete Time ◽  
Tracking Control ◽  
Controller Design ◽  
Tracking Error ◽  
Control Design ◽  
Multivariable Systems ◽  
Design Technique ◽  
Simulation Results ◽  
Robotic Applications

In this work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is obtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test the performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced. In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in the literature.

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