Active steering control of railway vehicles using linear quadratic Gaussian (LQG)

2007 ◽  
Author(s):  
Min-Soo Kim ◽  
Yeun-Sub Byun ◽  
Joon-Hyuk Park ◽  
Won-Hee You
Keyword(s):  
Steering Control ◽  
Linear Quadratic ◽  
Linear Quadratic Gaussian ◽  
Railway Vehicles ◽  
Active Steering ◽  
Active Steering Control

scholarly journals Active steering control based on preview theory for articulated heavy vehicles

PLoS ONE ◽  
2021 ◽  
Vol 16 (5) ◽  
pp. e0252098
Author(s):  
Jie Tian ◽  
Qingkang Zeng ◽  
Peng Wang ◽  
Xiaoqing Wang
Keyword(s):  
High Speed ◽  
Single Point ◽  
Path Tracking ◽  
Lateral Stability ◽  
Steering Control ◽  
Linear Quadratic ◽  
Low Speed ◽  
Active Steering ◽  
Simulation Results ◽  
Active Steering Control

This paper investigates the active steering control of the tractor and the trailer for the articulated heavy vehicle (AHV) to improve its high-speed lateral stability and low-speed path following. The four-degree-of-freedom (4-DOF) single track dynamic model of the AHV with a front-wheel steered trailer is established. Considering that the road information at the driver’s focus is the most clear and those away from the focus blurred, a new kind controller based on the fractional calculus, i.e., a focus preview controller is designed to provide the steering input for the tractor to make it travel along the desired path. In addition, the active steering controllers based on the linear quadratic regulator (LQR) and single-point preview controller respectively are also proposed for the trailer. However, the latter is designed on the basis of the articulation angle between the tractor and trailer, inspired by the idea of the driver’s single-point preview controller. Finally, the single lane change maneuver and 90o turn maneuver are carried out. And the simulation results show that compared with the single-point preview controller, the new kind preview controller for the tractor can have good high speed maneuvering stability and low speed path tracking ability by adjusting the fractional order of the controller. On this basis, three different AHVs with the same tractor are simulated and the simulation results show that the AHV whose trailer adopts the single-point preview controller has better high-speed lateral stability and low-speed path tracking than the AHV whose trailer adopts the LQR controller.

scholarly journals Research on vehicle active steering control based on linear matrix inequality and hardware in the loop test scheme design and implement for active steering

2019 ◽  
Vol 11 (11) ◽  
pp. 168781401989210 ◽  
Author(s):  
Guangfei Xu ◽  
Peisong Diao ◽  
Xiangkun He ◽  
Jian Wu ◽  
Guosong Wang ◽  
...  
Keyword(s):  
Linear Matrix Inequality ◽  
Model Uncertainty ◽  
Control Method ◽  
Steering System ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Steering Control ◽  
Sensor Noise ◽  
Active Steering ◽  
Active Steering Control

In the research process of automotive active steering control, due to the model uncertainty, road surface interference, sensor noise, and other influences, the control accuracy of the active steering system will be reduced, and the driver’s road sense will become worse. The traditional robust controller can solve the model uncertainty, pavement disturbance and sensor noise in the design process, but cannot consider the performance enough. Therefore, this article proposes an active steering control method based on linear matrix inequality. In this method, the model uncertainty, road interference, sensor noise, yaw velocity, and slip side angle tracking errors are all considered as constraint targets, respectively, so that the performance and robust stability of the active front steering system can be guaranteed. Finally, simulation and hardware in the loop experiment are implemented to verify the effect of active front steering system under the linear matrix inequality controller. The results show that the proposed control method can achieve better robust performance and robust stability.

scholarly journals Active-steering control system based on human hand impedance properties

2010 ◽  
Author(s):  
Yoshiyuki Tanaka ◽  
Yusuke Kashiba ◽  
Naoki Yamada ◽  
Takamasa Suetomi ◽  
Kazuo Nishikawa ◽  
...  
Keyword(s):  
Control System ◽  
Human Hand ◽  
Steering Control ◽  
Active Steering ◽  
Active Steering Control

Active steering control for autonomous vehicles based on a driver-in-the-loop platform: A case study of collision avoidance

2019 ◽  
Vol 233 (10) ◽  
pp. 1422-1437
Author(s):  
Keji Chen ◽  
Xiaofei Pei ◽  
Daoyuan Sun ◽  
Zhenfu Chen ◽  
Xuexun Guo ◽  
...  
Keyword(s):  
Risk Assessment ◽  
Model Predictive Control ◽  
Collision Avoidance ◽  
Predictive Control ◽  
Autonomous Vehicle ◽  
Steering Control ◽  
Safe Driving ◽  
Active Steering ◽  
Active Steering Control

Leveraging the advancements in sensor and mapping technologies, the collision-free autonomous vehicle becomes possible in the future. In this article, a case study of collision avoidance by active steering control is presented and verified by a driver-in-the-loop platform. The proposed control system integrates a risk assessment algorithm and a hierarchical model predictive control approach to ensure a safe driving. First, a fuzzy logic is used to estimate the potential conflict. Besides, a nonlinear model predictive control is introduced in the upper layer of the model predictive controller to generate a collision-free trajectory. Furthermore, the lower layer determines the optimal steering angle based on the linear time-variant model predictive control to follow the replanning path. The performance of the controller has been evaluated in the real-time driver-in-the-loop test. The results show that the autonomous vehicle is able to avoid the collision with the surrounding vehicle that is operated by a real driver, and the performance of collision avoidance is improved by means of the risk assessment.

Active steering control system for an independent wheel drive electric vehicle

2019 ◽  
Vol 79 (4) ◽  
pp. 273
Author(s):  
Muhammad Arshad Khan ◽  
Muhammad Faisal Aftab ◽  
Ejaz Ahmad ◽  
Iljoong Youn
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Steering Control ◽  
Active Steering ◽  
Wheel Drive ◽  
Active Steering Control

Energy Losses Related to Automatic Steering of Ships in Waves—Part II: Performance of Controllers Designed to a New Criterion

1983 ◽  
Vol 105 (3) ◽  
pp. 325-332 ◽  
Author(s):  
R. E. Reid ◽  
B. C. Mears ◽  
D. E. Griffin
Keyword(s):  
High Speed ◽  
Load Condition ◽  
Performance Criterion ◽  
Sensitivity Analyses ◽  
Energy Losses ◽  
Steering Control ◽  
Linear Quadratic ◽  
Linear Quadratic Gaussian ◽  
Automatic Steering ◽  
New Criterion

Minimization of energy losses associated with the steering control of modern ship types is discussed on the basis of frequency-domain sensitivity analyses and time-domain simulation studies. A high-speed containership and large tankers in the full-load condition are analyzed. A new performance criterion for minimization of steering-related propulsion losses is presented, and controllers designed to it using linear quadratic Gaussian (LQG) techniques. In the case of the containership, the resulting controller is shown to have the potential to reduce the net losses related to steering below those of the uncontrolled ship through proper use of the rudder in some conditions. While this does not seem possible for the tankers, the results indicate that a controller designed to the new criterion results in lower losses than a controller based on a form of criterion to which new autopilots for tankers are presently being designed. The implications for both autopilot and steering gear servo-design based on these results are discussed.

Integrated Driver and Active Steering Control for Vision-Based Lane Keeping

2012 ◽  
Vol 18 (5) ◽  
pp. 473-484 ◽  
Author(s):  
Riccardo Marino ◽  
Stefano Scalzi ◽  
Mariana Netto
Keyword(s):  
Steering Control ◽  
Active Steering ◽  
Lane Keeping ◽  
Active Steering Control
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