Allowable parametric uncertainty in the closed loop for the yaw-roll vehicle model: A skew-μ based approach

2017 ◽  
Author(s):  
Lowell S. Brown ◽  
David M. Bevly
Keyword(s):  
Closed Loop ◽  
Parametric Uncertainty ◽  
Vehicle Model

Application of Parametric Uncertainty Modeling to a Flexible Structure

1997 ◽  
Author(s):  
G. Wolodkin ◽  
V. Nalbantoğlu ◽  
K. B. Lim ◽  
G. J. Balas
Keyword(s):  
Closed Loop ◽  
Additional Data ◽  
Parametric Uncertainty ◽  
Uncertainty Modeling ◽  
Flexible Structure ◽  
University Of Minnesota ◽  
Output Data ◽  
Norm Model ◽  
Uncertainty Models ◽  
The University

Abstract We present the results of a study in uncertainty modeling applied to the flexible structure at the University of Minnesota. In addition to additive and multiplicative uncertainty models, we examine parametric uncertainty descriptions in which the weights are obtained directly from input-output data. Two methods are examined, one based on a minimum norm model validation (MNMV) test and another in which the estimated co-variance of the parameters is used to arrive at the uncertainty weights. The resulting uncertainty models are then used to design μ-synthesis controllers, and the resulting closed-loop performance is evaluated. Additional data is taken in a closed-loop setting, and this data is used to refine the model. For the flexible structure studied, we show that the use of parametric uncertainty leads to higher performance than that attainable with purely additive or multiplicative uncertainty. Refinement of the model based on closed-loop data is also shown to result in increased performance.

Driver Model Based on Controller with Open and Close Loop

2014 ◽  
Vol 889-890 ◽  
pp. 958-961
Author(s):  
Huan Ming Chen
Keyword(s):  
Closed Loop ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Vehicle Model ◽  
Vehicle Handling ◽  
Loop Control ◽  
Driving Experience ◽  
Loop Feedback ◽  
Closed Loop Feedback ◽  
Target Path

It is very important to simulate driver's manipulation for people - car - road closed loop simulation system. In this paper, the driver model is divided into two parts, linear vehicle model is used to simulate the driver's driving experience, and closed-loop feedback is used to characterize the driver's emergency feedback. The lateral acceleration of vehicle is used as feedback in closed loop control. Simulation results show that the smaller lateral acceleration requires the less closed-loop feedback control. The driver model can accurately track the target path, which can be used to simulate the manipulation of the driver. The driver model can be used for people - car - road closed loop simulation to evaluate vehicle handling stability.

scholarly journals Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking

2018 ◽  
Vol 28 (2) ◽  
pp. 363-374 ◽  
Author(s):  
Isela Bonilla ◽  
Marco Mendoza ◽  
Daniel U. Campos-Delgado ◽  
Diana E. Hernández-Alfaro
Keyword(s):  
Closed Loop ◽  
Impedance Control ◽  
Robot Manipulators ◽  
Parametric Uncertainty ◽  
Continuous Functions ◽  
Path Tracking ◽  
Robotic System ◽  
Loop System ◽  
Closed Loop System ◽  
Adaptive Impedance Control

Abstract The main impedance control schemes in the task space require accurate knowledge of the kinematics and dynamics of the robotic system to be controlled. In order to eliminate this dependence and preserve the structure of this kind of algorithms, this paper presents an adaptive impedance control approach to robot manipulators with kinematic and dynamic parametric uncertainty. The proposed scheme is an inverse dynamics control law that leads to the closed-loop system having a PD structure whose equilibrium point converges asymptotically to zero according to the formal stability analysis in the Lyapunov sense. In addition, the general structure of the scheme is composed of continuous functions and includes the modeling of most of the physical phenomena present in the dynamics of the robotic system. The main feature of this control scheme is that it allows precise path tracking in both free and constrained spaces (if the robot is in contact with the environment). The proper behavior of the closed-loop system is validated using a two degree-of-freedom robotic arm. For this benchmark good results were obtained and the control objective was achieved despite neglecting non modeled dynamics, such as viscous and Coulomb friction.

scholarly journals Delay-Dependent and Order-Dependent Guaranteed Cost Control for Uncertain Fractional-Order Delayed Linear Systems

Mathematics ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 41
Author(s):  
Fei Qi ◽  
Yi Chai ◽  
Liping Chen ◽  
José A. Tenreiro Machado
Keyword(s):  
Linear Systems ◽  
Fractional Order ◽  
Closed Loop ◽  
Cost Control ◽  
Design Method ◽  
Parametric Uncertainty ◽  
Guaranteed Cost Control ◽  
Linear Matrix ◽  
Razumikhin Theorem ◽  
Guaranteed Cost

This paper addresses the guaranteed cost control problem of a class of uncertain fractional-order (FO) delayed linear systems with norm-bounded time-varying parametric uncertainty. The study is focused on the design of state feedback controllers with delay such that the resulting closed-loop system is asymptotically stable and an adequate level of performance is also guaranteed. Stemming from the linear matrix inequality (LMI) approach and the FO Razumikhin theorem, a delay- and order-dependent design method is proposed with guaranteed closed-loop stability and cost for admissible uncertainties. Examples illustrate the effectiveness of the proposed method.

scholarly journals An Approach to Distributed Min-Max Model Predictive Control of Linear Systems with Parametric Uncertainty

2015 ◽  
Vol 13 (1-2) ◽  
pp. 2-9
Author(s):  
Alexandra Grancharova ◽  
Sorin Olaru
Keyword(s):  
Predictive Control ◽  
Uncertain Systems ◽  
Optimization Problem ◽  
Closed Loop ◽  
Parametric Uncertainty ◽  
Uncertain System ◽  
Input Constraints ◽  
Dual Decomposition ◽  
Suggested Approach ◽  
Control Of Linear Systems

Abstract In this paper, a suboptimal approach to distributed closed-loop min-max MPC for uncertain systems consisting of polytopic subsystems with coupled dynamics subject to both state and input constraints is proposed. The approach applies the dynamic dual decomposition method and reformulates the original centralized min-max MPC problem into a distributed optimization problem. The suggested approach is illustrated on a simulation example of an uncertain system consisting of two interconnected polytopic subsystems.

Adaptive Dynamic Surface Control of a Supersonic Flight Vehicle

2011 ◽  
Vol 110-116 ◽  
pp. 3580-3586 ◽  
Author(s):  
Waseem Aslam Butt ◽  
Lin Yan ◽  
Amezquita S. Kendrick
Keyword(s):  
Closed Loop ◽  
Dynamic Surface Control ◽  
Flight Vehicle ◽  
Nonlinear Functions ◽  
Closed Loop System ◽  
Vehicle Model ◽  
Dynamic Surface ◽  
Supersonic Flight ◽  
Adaptive Dynamic ◽  
Surface Control

The design of a nonlinear adaptive dynamic surface controller for the longitudinal model of a hypothetical supersonic flight vehicle is considered in this work. The uncertain nonlinear functions in the strict feedback flight vehicle model are approximated by using radial basis function neural networks. A detailed stability analysis of the designed angle-of-attack controller shows that all the signals of the closed loop system are uniformly ultimately bounded. The performance of the designed controller is verified through numerical simulations of the flight vehicle model.

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