scholarly journals Gain Scheduling Output Feedback Control for Vehicle Path Tracking Considering Input Saturation

Energies ◽  
2020 ◽  
Vol 13 (17) ◽  
pp. 4570
Author(s):  
Chao Liu ◽  
Weiqiang Zhao ◽  
Jie Li
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Control Method ◽  
Input Saturation ◽  
Output Feedback Control ◽  
Gain Scheduling ◽  
Parameter Uncertainties ◽  
Vehicle System ◽  
Driver Workload ◽  
Feedback Control Method

This paper presents a gain scheduling output feedback control method to reduce driver workload and improve driving performance by considering input saturation. The driver–vehicle system model is developed by considering tire cornering stiffness uncertainties and different driver parameter uncertainties. Meanwhile, the input saturation is also considered in the driver-vehicle system. A quadratic Lyapunov function is designed to solve the optimization problem with uncertainties and input saturation. The results, which are based on the MATLAB-CarSim co-simulation platform, indicate that the robust controller not only improves the convergence rate of the state but also reduces the steering workload of the driver.

Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs

2020 ◽  
Vol 42 (14) ◽  
pp. 2822-2829
Author(s):  
Kexin Xu ◽  
Xianqing Wu ◽  
Miao Ma ◽  
Yibo Zhang
Keyword(s):  
Feedback Control ◽  
Lyapunov Function ◽  
Output Feedback ◽  
Control Method ◽  
Actuator Saturation ◽  
Output Feedback Control ◽  
Lyapunov Theory ◽  
Velocity Signal ◽  
Feedback Control Method ◽  
The Stability

In this paper, we consider the control issues of the two-dimensional translational oscillator with rotational actuator (2DTORA) system, which has two translational carts and one rotational rotor. An output feedback controller for the 2DTORA system is proposed, which can prevent the unwinding behaviour. In addition, the velocity signal unavailability and actuator saturation are taken into account, simultaneously. In particular, the dynamics of the 2DTORA system are given first. On the basis of the passivity and control objectives of the 2DTORA system, an elaborate Lyapunov function is constructed. Then, based on the introduced Lyapunov function, a novel output feedback control method is proposed straightforwardly for the 2DTORA system. Lyapunov theory and LaSalle’s invariance principle are utilized to analyse the stability of the closed-loop system and the convergence of the states. Finally, simulation results are provided to illustrate the excellent control performance of the proposed controller in comparison with the existing method.

scholarly journals Modeling and nonlinear energy-based anti-swing control of underactuated dual ship-mounted cranes systems

2021 ◽  
Author(s):  
Die Hu ◽  
Yuzhe Qian ◽  
Yongchun Fang ◽  
Yuzhu Chen
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Control Method ◽  
Controller Design ◽  
Output Feedback Control ◽  
Geometric Constraints ◽  
State Feedback Control ◽  
State Variables ◽  
Nonlinear Controllers ◽  
Feedback Control Method

Abstract As the volume and the mass of the payload increases, it is often necessary to use two ship-mounted cranes to jointly transport huge payloads under marine environment. Compared with a single ship-mounted crane, dual ship-mounted cranes contain more state variables, geometric constraints and coupling dynamics, which bring more challenges in kinematic analysis and controller design for such complicated underactuated systems. In order to solve these problems, the dynamic model of the dual ship-mounted cranes systems are established based on Lagrange's method. Considering different practical requirements, two energy-based nonlinear controllers for dual ship-mounted cranes are developed, including a full state feedback control method and an output feedback control method. More preciously, during the control design process, the saturation constraints of the controllers have been fully considered. Meanwhile, the proposed controllers can achieve accurate positioning of the double-constrained derricks as well as effective elimination of payload swing. The stability of the equilibrium point of the closed-loop system is analyzed by using Lyapunov techniques and Lasalle's invariance principle. As far as we know, the modeling and the output feedback controller design of dual ship-mounted cranes are proposed for the first time in this paper. At the same time, the design and analysis process does not need to linearize the complex nonlinear dynamics equations, while the proposed output feedback control method is robust against the situations when the velocity signals are unknown/unavailable. Finally, a series of experiments are carried out to verify the effectiveness of the proposed nonlinear controllers.

scholarly journals Output Feedback Control Synthesis and Stabilization for Positive Polynomial Fuzzy Systems Under L1 Performance

2020 ◽  
Author(s):  
Aiwen Meng ◽  
Hak-Keung Lam ◽  
Fucai Liu ◽  
Ziguang Wang
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Control Method ◽  
Negative Impact ◽  
Output Feedback Control ◽  
Convex Problem ◽  
Positive Polynomial ◽  
Feedback Control Method ◽  
System States ◽  
The Stability

This paper presents the stabilization for positive nonlinear systems using polynomial fuzzy models. To conform better to the practical scenarios that system states are not completely measurable, the static output feedback (SOF) control strategy instead of the state feedback control method is employed to realize the stability and positivity of the positive polynomial fuzzy system (PPFS) with satisfying L1-induced performance. However, some troublesome problems in analysis and control design will follow, such as the non-convex problem. Fortunately, by doing mathematical tricks, the non-convex problem is skillfully dealt with. Furthermore, the neglect of external disturbances may lead to a great negative impact on the performance of positive systems. For the sake of guaranteeing the asymptotic stability and positivity under the satisfaction of the optimal performance of the PPFS, it is significant to take the L1-induced performance requirement into consideration as well. In addition, a linear co-positive Lyapunov function is chosen so that the positivity can be extracted well and the stability analysis becomes simple. By using the sum of squares (SOS) technique, the convex stability and positivity conditions in the form of SOS are derived. Eventually, for illustrating the advantages of the proposed method, a simulation example is shown in the simulation section.

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