A Partitioning Scheme for a Switched Feedback Control Law in Two Agent Pursuit-Evasion Scenarios

2011 ◽  
Vol 134 (1) ◽  
Author(s):  
Brian J. Goode ◽  
Andrew J. Kurdila ◽  
Michael J. Roan
Keyword(s):  
Feedback Control ◽  
State Space ◽  
The State ◽  
Theoretical Development ◽  
Control Law ◽  
Time Efficiency ◽  
True Solution ◽  
Pursuit Evasion ◽  
Graph Theoretical Approach ◽  
Homicidal Chauffeur

A switched feedback control law is derived for an autonomous pursuing agent that attempts to intercept an evading agent whose dynamics are initially unknown. The model of the pursuer’s dynamics is known perfectly, and the evader is modeled as a disturbance. A new method is presented to efficiently update the pursuer’s control law as measurements of the parameters that govern the evader’s dynamics are received. Using a graph theoretical approach, the control law updates are limited to specific partitions of the state space, which eliminate many unneeded calculations. Results show increases in the time efficiency of the update calculations compared to traditional control law generation methods with a minimal loss in accuracy. An 11.6% overall decrease in calculation time over traditional methods and a 1% error rate compared to the true solution is achieved when solving the homicidal chauffeur game. We show how actual gains in time efficiency depend on the specific application of the controller and the size of the state space grid approximation. Both the theoretical development and implementation of the switched feedback controller are discussed.

The Homicidal Chauffeur Problem With Time Delayed Feedback

2003 ◽  
Author(s):  
Nejat Olgac ◽  
Rifat Sipahi ◽  
Ali Fuat Ergenc
Keyword(s):  
Time Delay ◽  
Feedback Control ◽  
Target Tracking ◽  
Critical Parameter ◽  
Delayed Feedback ◽  
Control Law ◽  
Pursuit Evasion ◽  
Parking Lot ◽  
Homicidal Chauffeur ◽  
Time Delayed Feedback

The classical pursuit-evasion scenario (target tracking) is studied with an interesting perspective. A homicidal chauffeur (pursuer) tries to capture an evader on a 2-dimensional platform (a parking lot). It utilizes a certain feedback control law, which enables the capture. If, however, a time delay is introduced for the sensory perception of the pursuer the performance of the pursuer can show dramatic changes. It may or may not capture its victim depending on this very critical parameter, the sensory time delay. The unique perspective is introduced at this feature.

Mixed Strategy Global Sub-Optimal Feedback Control for Chaotic Systems

1997 ◽  
Vol 07 (03) ◽  
pp. 607-623 ◽  
Author(s):  
H. W. J. Lee ◽  
M. Paskota ◽  
K. L. Teo
Keyword(s):  
Feedback Control ◽  
State Space ◽  
Chaotic Systems ◽  
Mixed Strategy ◽  
The State ◽  
Optimal Feedback Control ◽  
Target Region ◽  
Optimal Feedback ◽  
Control Scheme

How to perform targeting of chaotic systems in a global sense is an important question. In this paper, we address this problem by introducing a mixed strategy global sub-optimal feedback control scheme. The idea is to partition the state space into 2 parts, namely, the target region and its complement. The proposed controller will take different forms depending on which partition of the state space the system is in. Simulations are also provided to illustrate the proposed scheme.

NEURAL NETWORK-BASED DIGITAL REDESIGN APPROACH FOR CONTROL OF UNKNOWN CONTINUOUS-TIME CHAOTIC SYSTEMS

2005 ◽  
Vol 15 (08) ◽  
pp. 2433-2455
Author(s):  
JOSE I. CANELON ◽  
LEANG S. SHIEH ◽  
SHU M. GUO ◽  
HEIDAR A. MALKI
Keyword(s):  
Neural Network ◽  
State Space ◽  
Continuous Time ◽  
Digital Control ◽  
Chaotic Systems ◽  
Linear Time ◽  
The State ◽  
Control Law ◽  
Analog Control ◽  
Digital Redesign

This paper presents a neural network-based digital redesign approach for digital control of continuous-time chaotic systems with unknown structures and parameters. Important features of the method are that: (i) it generalizes the existing optimal linearization approach for the class of state-space models which are nonlinear in the state but linear in the input, to models which are nonlinear in both the state and the input; (ii) it develops a neural network-based universal optimal linear state-space model for unknown chaotic systems; (iii) it develops an anti-digital redesign approach for indirectly estimating an analog control law from a fast-rate digital control law without utilizing the analog models. The estimated analog control law is then converted to a slow-rate digital control law via the prediction-based digital redesign method; (iv) it develops a linear time-varying piecewise-constant low-gain tracker which can be implemented using microprocessors. Illustrative examples are presented to demonstrate the effectiveness of the proposed methodology.

scholarly journals Robust H∞ stabilisation with definite attenuance of an uncertain impulsive switche system

2005 ◽  
Vol 46 (4) ◽  
pp. 471-484 ◽  
Author(s):  
Honglei Xu ◽  
Xinzhi Liu ◽  
Kok Lay Teo
Keyword(s):  
Feedback Control ◽  
Switched Systems ◽  
State Feedback ◽  
The State ◽  
State Feedback Control ◽  
State Model ◽  
Control Law ◽  
Time Varying ◽  
Impulsive Switched Systems ◽  
Bounded Uncertainty

AbstractIn this paper, we study the problem of robust H∞ stabilisation with definite attenuance for a class of impulsive switched systems with time-varying uncertainty. A norm-bounded uncertainty is assumed to appear in all the matrices of the state model. An LMI-based method for robust· H∞ stabilisation with definite attenuance via a state feedback control law is developed. A simulation example is presented to demonstrate the effectiveness of the proposed method.

scholarly journals A High-Efficient Finite Difference Method for Flexible Manipulator with Boundary Feedback Control

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Fushou Liu ◽  
Dongping Jin
Keyword(s):  
Feedback Control ◽  
Boundary Conditions ◽  
State Space ◽  
The State ◽  
Flexible Manipulator ◽  
Boundary Feedback Control ◽  
Pde Model ◽  
Boundary Feedback ◽  
High Efficient ◽  
Space Equation

The paper presents a high-efficient finite difference method for solving the PDE model of the single-link flexible manipulator system with boundary feedback control. Firstly, an abstract state-space model of the manipulator is derived from the original PDE model and the associated boundary conditions of the manipulator by using the velocity and bending curvature of the flexible link as the state variables. Then, the second-order implicit Crank-Nicolson scheme is adopted to discretize the state-space equation, and the second-order one-sided approximation is used to discretize the boundary conditions with excitations and feedback control. At last, the state-space equation combined with the boundary conditions of the flexible manipulator is transformed to a system of linear algebraic equations, from which the response of the flexible manipulator can be easily solved. Numerical simulations are carried out to simulate the manipulator under various excitations and boundary feedback control. The results are compared with ANSYS to demonstrate the accuracy and high efficiency of the presented method.

Fuzzy Control of Structure for Semi-Active Friction Damper Using GA

2006 ◽  
Author(s):  
Hong-Nan Li ◽  
Dahai Zhao
Keyword(s):  
Optimal Control ◽  
State Space ◽  
Control Strategy ◽  
Fuzzy Model ◽  
The State ◽  
Effective Control ◽  
Control Law ◽  
Control Force ◽  
Friction Damper ◽  
Active Friction

The motion of friction dampers, either passive or semi-active, involves sticking and slipping phases. The idea for increasing the performance of semi-active friction damper is to maintain its motion in the slipping phase as much as possible, since energy is dissipated during the slipping phase rather than the sticking phase. The effectiveness of semi-active friction damper depends on the control strategy used. Because of nonlinear characteristic of the friction damper, the establishment of an effective control strategy is a challenging effort. In optimal control theory, the bang-bang is a class of classical control laws. However, when applied to real structure control, it will produce some problems. One of disadvantages is that differential equation has to be solved on-line during the control process, which will lead to time delay and instability to the control system. The other is that the undesirable spikes will emerge near the origin of the state space due to high speed switching of the control force. In this paper, a new strategy based on the T-S fuzzy model and modified bang-bang algorithm is proposed. First, the theory of the T-S fuzzy model is briefly introduced. Next, the modified bang-bang control law is reviewed. Then, the implementation procedure of the proposed control method is detailed for description, and the optimal control force in the consequent part of the T-S model is achieved by the genetic algorithm. Finally, on the establishment of the semi-active control law, the approach here is applied to the vibration control of a three story building with a semi-active friction damper. Numerical simulation results indicate that the proposed control strategy not only effectively reduce the chattering effect as the responses of the structure cross through the zero points in the state space but also is adaptive to varying excitations from weak and strong earthquakes.

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