Use of State Observers in the Optimal Feedback Control of Automated Transit Vehicles

1973 ◽  
Vol 95 (2) ◽  
pp. 220-227 ◽  
Author(s):  
W. L. Garrard ◽  
A. L. Kornhauser
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
Dynamic Response ◽  
High Capacity ◽  
Optimal Feedback Control ◽  
Feedback Systems ◽  
Longitudinal Control ◽  
Transit Systems ◽  
State Observers ◽  
Theory Of Optimal Control

The theory of optimal control and the theory of observers is applied to the design of feedback systems for longitudinal control of vehicles in automated, high-capacity transit systems. The resulting controllers require only measurement of position and velocity errors and excellent dynamic response is achieved for mainline operation, for merging and demerging from stations, for maneuvering at intersections, and for emergency stopping.

Passive optimal feedback control of an articulated flexible arm

2020 ◽  
pp. 107754632095676
Author(s):  
Raja Tebbikh ◽  
Hicham Tebbikh ◽  
Sihem Kechida
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
Closed Loop ◽  
Open Loop ◽  
Optimal Feedback Control ◽  
Convolution Operators ◽  
High Frequencies ◽  
Zero Initial Condition ◽  
Flexible Arm ◽  
Euler Bernoulli Beam

This article deals with stabilization and optimal control of an articulated flexible arm by a passive approach. This approach is based on the boundary control of the Euler–Bernoulli beam by means of wave-absorbing feedback. Due to the specific propagative properties of the beam, such controls involve long-memory, non-rational convolution operators. Diffusive realizations of these operators are introduced and used for elaborating an original and efficient wave-absorbing feedback control. The globally passive nature of the closed-loop system gives it the unconditional robustness property, even with the parameters uncertainties of the system. This is not the case in active control, where the system is unstable, because the energy of high frequencies is practically uncontrollable. Our contribution comes in the achievement of optimal control by the diffusion equation. The proposed approach is original in considering a non-zero initial condition of the diffusion as an optimization variable. The optimal arm evolution, in a closed loop, is fixed in an open loop by optimizing a criterion whose variable is the initial diffusion condition. The obtained simulation results clearly illustrate the effectiveness and robustness of the optimal diffusive control.

Optimal Control of a Distributed Parameter, Time-Lagged River Aeration System

1975 ◽  
Vol 97 (2) ◽  
pp. 164-171 ◽  
Author(s):  
M. K. O¨zgo¨ren ◽  
R. W. Longman ◽  
C. A. Cooper
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
Open Loop ◽  
Optimal Feedback Control ◽  
Distributed Parameter ◽  
Control Law ◽  
Optimal Controls ◽  
Distributed Parameter System ◽  
Parameter System ◽  
Characteristic Lines

The control of artificial in-stream aeration of polluted rivers with multiple waste effluent sources is treated. The optimal feedback control law for this distributed parameter system is determined by solving the partial differential equations along characteristic lines. In this process the double integral cost functional of the distributed parameter system is reduced to a single integral cost. Because certain measurements are time consuming, the feedback control law is obtained in the presence of observation delay in some but not all of the system variables. The open loop optimal control is then found, showing explicity the effect of changes in any of the effluent sources on the aeration strategy. It is shown that the optimal strategy for a distribution of sources can be written as an affine transformation upon the optimal controls for sources of unit strength.

CONSTRUCTION OF SUBOPTIMAL FEEDBACK CONTROL FOR CHAOTIC SYSTEMS USING B-SPLINES WITH OPTIMALLY CHOSEN KNOT POINTS

2001 ◽  
Vol 11 (09) ◽  
pp. 2375-2387 ◽  
Author(s):  
H. W. J. LEE ◽  
K. L. TEO ◽  
W. R. LEE ◽  
S. WANG
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Numerical Approach ◽  
Optimal Feedback Control ◽  
B Splines ◽  
Decision Variables ◽  
Spline Basis ◽  
The Lorenz System

In this paper we consider a class of optimal control problem involving a chaotic system, where all admissible controls are required to satisfy small boundedness constraints. A numerical approach is developed to seek for an optimal feedback control for the optimal control problem. In this approach, the state space is partitioned into subregions, and the controller is approximated by a linear combination of a modified third order B-spline basis functions. The partition points are also taken as decision variables in this formulation. An algorithm based on this approach is proposed. To show the effectiveness of the proposed method, a control problem involving the Lorenz system is solved by the proposed approach. The numerical results demonstrate that the method is efficient in the construction of a robust, near-optimal control.

scholarly journals Time-to-target simplifies optimal control of visuomotor feedback responses

2019 ◽  
Author(s):  
Justinas Česonis ◽  
David W. Franklin
Keyword(s):  
Experimental Data ◽  
Optimal Control ◽  
Feedback Control ◽  
Control Parameter ◽  
Optimal Feedback Control ◽  
Specific Task ◽  
Control Scheme ◽  
Response Onset ◽  
Online Feedback ◽  
Feedback Responses

AbstractVisuomotor feedback responses vary in intensity throughout a reach, commonly explained by optimal control. Here we show that the optimal control for a range of movements with the same goal can be simplified to a time-to-target dependent control scheme. We measure participants’ visuomotor responses in five reaching conditions, each with different hand or cursor kinematics. Participants only produced different feedback responses when these kinematic changes resulted in different times-to-target. We complement our experimental data with a range of finite and non-finite horizon optimal feedback control models, finding that only the model with time-to-target as one of the input parameters can successfully replicate the experimental data. Overall, this suggests that time-to-target is a critical control parameter in online feedback control. Moreover, we propose that for a specific task and known dynamics, humans can instantly produce a control signal without any computation allowing rapid response onset and close to optimal control.

scholarly journals Adaptive Fuzzy Output Feedback Control for Partial State Constrained Nonlinear Pure Feedback Systems

2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Liping Wang ◽  
Weiwei Sun ◽  
You Wu
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
State Constraints ◽  
Output Feedback Control ◽  
Feedback Systems ◽  
Fuzzy Logic Systems ◽  
Adaptive Fuzzy ◽  
State Observers ◽  
Partial State ◽  
Fuzzy State

The adaptive fuzzy output feedback control problem for a class of pure feedback systems with partial state constraints is addressed in this paper. The fuzzy state observers are designed to estimate the unmeasured state while the fuzzy logic systems are used to approximate the unknown nonlinear functions. The proposed adaptive fuzzy output feedback controller can guarantee that the partial state constraints are not violated, and all closed-loop signals remain bounded by use of Barrier Lyapunov Functions (BLFs). A numerical example is presented to illustrate the effectiveness of the results in this paper.

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