Orbital tracking control for car parking via control of the clock using a nonlinear reduced order steering-angle observer

2007 ◽  
Author(s):  
Bernhard Muller ◽  
Joachim Deutscher
Keyword(s):  
Tracking Control ◽  
Steering Angle ◽  
Reduced Order

Study on Driver and Vehicle System With Lane-Tracking Control System Using Steering Torque Input

2001 ◽  
Author(s):  
Masao Nagai ◽  
Hidehisa Yoshida ◽  
Kiyotaka Shitamitsu ◽  
Hiroshi Mouri
Keyword(s):  
Tracking Control ◽  
High Speed ◽  
Driving Simulator ◽  
Tracking System ◽  
Torque Control ◽  
Steering Wheel ◽  
Control Input ◽  
Steering Angle ◽  
Lane Tracking ◽  
Steering Torque

Abstract Although the vast majority of lane-tracking control methods rely on the steering wheel angle as the control input, a few studies have treated methods using the steering torque as the input. When operating vehicles especially at high speed, drivers typically do not grip the steering wheel tightly to prevent the angle of the steering wheel from veering off course. This study proposes a new steering assist system for a driver not with the steering angle but the steering torque as the input and clarifies the characteristics and relative advantages of the two approaches. Then using a newly developed driving simulator, characteristics of human drivers and the lane-tracking system based on the steering torque control are investigated.

Research and Experiment on Path-Tracking Control of Autonomous Tractor Based on Lateral Deviation and Yaw Rate Feedback

2021 ◽  
Vol 37 (5) ◽  
pp. 891-899
Author(s):  
Bingli Zhang ◽  
Jin Cheng ◽  
Pingping Zheng ◽  
Aojia Li ◽  
Xiaoyu Cheng
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Path Tracking ◽  
Steering Angle ◽  
Lateral Deviation ◽  
Yaw Rate ◽  
Automatic Navigation ◽  
Rate Feedback ◽  
The Ideal

HighlightsAutomatic navigation technology in autonomous tractors is one of the key technologies in precision agriculture.A path-tracking control algorithm based on lateral deviation and yaw rate feedback is proposed.The modified steering angle was obtained by comparing the ideal yaw rate with the actual yaw rate.The results demonstrate the efficiency and superior accuracy of the proposed algorithm for tractor path-tracking control.Abstract. The performance of path-tracking control systems for autonomous tractors affects the quality and efficiency of farmland operations. The objective of this study was to develop a path-tracking control algorithm based on lateral deviation and yaw rate feedback. The autonomous tractor path lateral dynamics model was developed based on preview theory and a two-degree-of-freedom tractor model. According to the established dynamic model, a path-tracking control algorithm using yaw angular velocity correction was designed, and the ideal steering angle was obtained by lateral deviation and sliding mode control. The modified steering angle was obtained by a proportional-integral-derivative feedback controller after comparing the ideal yaw rate with the actual yaw rate, which was then combined with the ideal steering angle to obtain the desired steering angle. The simulation and experimental results demonstrate the efficiency and superior accuracy of the proposed tractor path-tracking control algorithm, enabling its application in automatic navigation control systems for autonomous tractors. Keywords: Autonomous tractor, Path-tracking control, Sliding mode control, Yaw rate feedback.

Optimal Tracking Control of Multi-Zone Indoor Environmental Spaces

1995 ◽  
Vol 117 (3) ◽  
pp. 292-303 ◽  
Author(s):  
M. Zaheer-uddin ◽  
R. V. Patel
Keyword(s):  
Optimal Control ◽  
Tracking Control ◽  
Control Law ◽  
Closed Loop System ◽  
Order Model ◽  
Fast Subsystem ◽  
Reduced Order ◽  
Optimal Tracking ◽  
Optimal Tracking Control ◽  
Slow Subsystem

Optimal control of indoor environmental spaces is explored. A physical model of the system consisting of a heating system, a distribution system and an environmental zone is considered and a seventh order bilinear system model is developed. From the physical characteristics and open-loop response of the system, it is shown that the overall system consists of a fast subsystem and a slow subsystem. By including the effects of the slow subsystem in the fast subsystem, a reduced order model is developed. An optimal control law is designed based on the reduced order model and it is implemented on the full order nonlinear system. Both local and global linearization techniques are used to design optimal control laws. Results showing the disturbance rejection characteristics of the resulting closed-loop system are presented. The use of optimal tracking control to implement large changes in setpoints, in a prescribed manner, is also examined. A general model to describe environmental zones is proposed and its application to multi-zone spaces is illustrated. A multiple-input optimal tracking control law with output error integrators is designed. The resulting closed-loop system response to step-like disturbances is shown to be good.

Reduced-Order Observer Based Sliding Mode Control for a Quad-Rotor Helicopter

2016 ◽  
Vol 28 (3) ◽  
pp. 304-313 ◽  
Author(s):  
Reesa Akbar ◽  
◽  
Bambang Sumantri ◽  
Hitoshi Katayama ◽  
Shigenori Sano ◽  
...  
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Observer Design ◽  
Control Performance ◽  
Reduced Order ◽  
Reduced Order Observer ◽  
Euler Model ◽  
Sampled Measurements ◽  
Observation Noise

[abstFig src='/00280003/05.jpg' width=""230"" text='Quadcopter for repeated control verification' ] The reduced-order observer design we present estimates the velocity states of a quadrotor helicopter, or quadcopter, based on sampled measurements of position and attitude states. This observer is based on the forward-differentiation Euler model. The observer is robust enough against observation noise that the gain of a closed-loop controller is high enough to improve control performance. A sliding-mode controller stabilizes and implements quadcopter tracking control effectively, as is verified experimentally when compared to a conventional backward-difference method.

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