scholarly journals Preview Control with Dynamic Constraints for Autonomous Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (15) ◽  
pp. 5155
Author(s):  
Rui Li ◽  
Qi Ouyang ◽  
Yue Cui ◽  
Yang Jin
Keyword(s):  
Autonomous Vehicles ◽  
Lyapunov Theory ◽  
System Stability ◽  
System Response ◽  
Control Law ◽  
Steering Control ◽  
Tracking Accuracy ◽  
Closed Loop System ◽  
Control Approach ◽  
Dynamic Constraints

In this paper, a preview theory-based steering control approach considering vehicle dynamic constraints is presented. The constrained variables are predicted by an error states system and utilized to adjust the control law once the established dynamic constraints are violated. The simulated annealing optimization algorithm for preview length is conducted to improve the adaptability of the controller to varying velocities and road adhesion coefficients. The theoretical stability of a closed-loop system is guaranteed using Lyapunov theory, and further analysis of the system response in time domain and frequency domain is discussed. The results of simulations implemented on Carsim–Simulink demonstrate the favorable performance of the proposed control in tracking accuracy and system stability under extreme conditions.

Adaptive Gimbal Control Approach to Account for Power Consumption and Landmark Tracking Quality

2016 ◽  
Author(s):  
Akin Tatoglu ◽  
Claudio Campana
Keyword(s):  
Power Consumption ◽  
Input Signal ◽  
Feature Detection ◽  
Oscillation Amplitude ◽  
System Response ◽  
Indoor Environments ◽  
Tracking Accuracy ◽  
Visual Sensor ◽  
Control Approach ◽  
Landmark Tracking

Unmanned Aerial Vehicles (UAV) are commonly used for robotics research and industrial purposes. Most of the autonomous applications use visual sensors and inertial measurement units for localization. Design constraints of such systems are defined considering smooth operation requirements such as indoor environments without external forces where input tracking signal is constant during an operation. In this research paper, we simultaneously investigate and compare stability, power consumption and landmark tracking quality of a visual sensor mounted gimbal specifically for rapid UAV motion requirements where input signal continuously varies such as at obstacle rich environments. We not only attempt to find efficient control parameters but also compare these settings with power consumption and landmark tracking quality metric which are vital for mobile robots and localization algorithms. Efficiency of the system response is analyzed with rise and settling time as well as oscillation amplitude and frequencies. These parameters are tested and benchmarked with various voltage and current limitations. In addition to that, different response behaviors were investigated considering landmark tracking quality metrics including feature detection and image blur. We have shown that gimbal stabilization controller under continuously varying input signal requires less responsive behavior to keep landmark tracking accuracy stable. Initial simulation results, system development and experimental setup procedure are explained and behavior plots for each topic are listed and analyzed.

Vehicle yaw-inertia- and mass-independent adaptive steering control

2009 ◽  
Vol 223 (9) ◽  
pp. 1101-1108 ◽  
Author(s):  
J Wang ◽  
M F Hsieh
Keyword(s):  
Adaptive Control ◽  
Tracking Error ◽  
Stability Control ◽  
Driving Safety ◽  
Control Law ◽  
Steering Control ◽  
Tracking Accuracy ◽  
Unknown Parameters ◽  
Practical Applications ◽  
Adaptive Control Law

This paper describes a vehicle stability control (VSC) system using a vehicle yaw-inertia- and mass-independent adaptive control law. As a primary vehicle active control system, VSC can significantly improve vehicle driving safety for passenger cars and enhance trajectory tracking accuracy for other applications such as autonomous, surveillance, and mobile robot vehicles. For the designs of vehicle dynamic control systems, vehicle yaw inertia and mass are two of the most important parameters. However, in practical applications, vehicle yaw inertia and mass often change with vehicle payload and load distribution. In this paper, an adaptive control law is proposed to treat the vehicle yaw inertia and mass as unknown parameters and automatically address their variations. For the proposed adaptive control law, asymptotic stability of the yaw rate tracking error was proved by a Lyapunov-like analysis for certain vehicle architectures under some reasonable assumptions. The performance of the yaw-inertia- and mass-independent adaptive VSC system was evaluated under several driving conditions (i.e. double lane changing on a slippery surface and braking on a split- μ surface tests) through simulation studies using a high-fidelity full-vehicle model provided by CarSim®.

scholarly journals Fractional-Order Sliding Mode Control of Overhead Cranes   

2020 ◽  
Vol 31 (1) ◽  
pp. 68-76
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Closed Loop ◽  
Control Structure ◽  
Adaptive System ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Closed Loop System ◽  
Control Approach ◽  
Mode Control

We constitute a control system for overhead crane with simultaneous motion of trolley and payload hoist to destinations and suppression of payload swing. Controller core made by sliding mode control (SMC) assures the robustness. This control structure is inflexible since using fixed gains. For overcoming this weakness, we integrate variable fractional-order derivative into SMC that leads to an adaptive system with adjustable parameters. We use Mittag–Leffler stability, an enhanced version of Lyapunov theory, to analyze the convergence of closed-loop system. Applying the controller to a practical crane shows the efficiency of proposed control approach. The controller works well and keeps the output responses consistent despite the large variation of crane parameters.

A Theoretical Control Strategy for a Diesel Engine

2005 ◽  
Vol 128 (2) ◽  
pp. 453-457 ◽  
Author(s):  
R. Outbib ◽  
X. Dovifaaz ◽  
A. Rachid ◽  
M. Ouladsine
Keyword(s):  
Diesel Engine ◽  
Engine Speed ◽  
Closed Loop ◽  
Lyapunov Theory ◽  
Loop System ◽  
Control Law ◽  
Closed Loop System ◽  
Nonlinear Method ◽  
New Approach ◽  
Fuel Rate

In this paper we present a theoretical strategy for diesel engine control. More precisely, we propose a new approach to control the speed of the engine using the fuel rate as the control law and we show how this approach can be used to control the opacity. We first establish a mathematical model that describes the behavior of the engine. Afterward, we propose a new nonlinear method to design a controller for a class of nonlinear systems. The proposed method, based on Lyapunov theory, is used to design a smooth feedback law that renders the closed-loop system asymptotically stable around a desired engine speed value. Finally, simulation results are proposed to highlight the performances of the closed-loop system.

scholarly journals Adaptive Global Sliding Mode Controller Design for Perturbed DC-DC Buck Converters

Energies ◽  
2021 ◽  
Vol 14 (5) ◽  
pp. 1249
Author(s):  
Saleh Mobayen ◽  
Farhad Bayat ◽  
Chun-Chi Lai ◽  
Asghar Taheri ◽  
Afef Fekih
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Buck Converter ◽  
Control Law ◽  
Control Input ◽  
Buck Converters ◽  
Tracking Accuracy ◽  
Control Approach ◽  
Efficient Suppression

This paper proposes a novel adaptive intelligent global sliding mode control for the tracking control of a DC-DC buck converter with time-varying uncertainties/disturbances. The proposed control law is formulated using a switching surface that eliminates the reaching phase and ensures the existence of the sliding action from the start. The control law is derived based on the Lyapunov stability theory. The effectiveness of the proposed approach is illustrated via high-fidelity simulations by means of Simscape simulation environment in MATLAB. Satisfactory tracking accuracy, efficient suppression of the chattering phenomenon in the control input, and high robustness against uncertainties/disturbances are among the attributes of the proposed control approach.

Lyapunov-Based Adaptive Control for the Permanent Magnet Synchronous Motor Driving a Robotic Load

2017 ◽  
Vol 26 (11) ◽  
pp. 1750168 ◽  
Author(s):  
Javier Moreno-Valenzuela ◽  
Yajaira Quevedo-Pillado ◽  
Regino Pérez-Aboytes ◽  
Luis González-Hernández
Keyword(s):  
Adaptive Control ◽  
Permanent Magnet ◽  
Permanent Magnet Synchronous Motor ◽  
Adaptive Controller ◽  
Synchronous Motor ◽  
Lyapunov Theory ◽  
System Stability ◽  
Field Oriented Control ◽  
Tracking Accuracy ◽  
Trajectory Tracking Control

This paper is inspired on the structure of the field-oriented control by presenting an analytical and practical study of an adaptive nested controller for trajectory tracking control of a permanent magnet synchronous motor (PMSM) driving a single-link arm. The originality of the new approach relies in the use of adaptive control to compensate the electrical and mechanical dynamics and in the presentation of a rigorous closed-loop system stability analysis based on Lyapunov theory. It is worthwhile to notice that the new controller resembles the pure field-oriented control except for the adaptive terms. The new scheme is compared with other methodologies as with the classical nonadaptive field-oriented control algorithm and with an adaptive controller proposed in the literature. A better tracking accuracy is obtained with the proposed adaptive scheme.

Sensitivity Comparison to Loop Latencies Between Damping Versus Stiffness Feedback Control Action in Distributed Controllers

2014 ◽  
Author(s):  
Ye Zhao ◽  
Nicholas Paine ◽  
Luis Sentis
Keyword(s):  
Closed Loop ◽  
Impedance Control ◽  
Tracking Error ◽  
Loop System ◽  
Tracking Performance ◽  
System Stability ◽  
Step Response ◽  
Tracking Accuracy ◽  
Closed Loop System ◽  
And Performance

This paper studies the effects of damping and stiffness feedback loop latencies on closed-loop system stability and performance. Phase margin stability analysis, step response performance and tracking accuracy are respectively simulated for a rigid actuator with impedance control. Both system stability and tracking performance are more sensitive to damping feedback than stiffness feedback latencies. Several comparative tests are simulated and experimentally implemented on a real-world actuator to verify our conclusion. This discrepancy in sensitivity motivates the necessity of implementing embedded damping, in which damping feedback is implemented locally at the low level joint controller. A direct benefit of this distributed impedance control strategy is the enhancement of closed-loop system stability. Using this strategy, feedback effort and thus closed-loop actuator impedance may be increased beyond the levels possible for a monolithic impedance controller. High impedance is desirable to minimize tracking error in the presence of disturbances. Specially, trajectory tracking accuracy is tested by a fast swing and a slow stance motion of a knee joint emulating NASA-JSC’s Valkyrie legged robot. When damping latencies are lowered beyond stiffness latencies, gravitational disturbance is rejected, thus demonstrating the accurate tracking performance enabled by a distributed impedance controller.

scholarly journals Integral Backstepping Control of Induction Machine

2021 ◽  
Vol 23 (4) ◽  
pp. 345-351
Author(s):  
Abdelhak Benheniche ◽  
Farid Berrezzek
Keyword(s):  
High Speed ◽  
Induction Machine ◽  
Lyapunov Theory ◽  
System Stability ◽  
External Disturbances ◽  
Control Approach ◽  
Integral Action ◽  
Resistance Variation ◽  
Control Scheme ◽  
Rotor Flux

The goal of this work is to propose a latest design of a rotor speed and rotor flux modulus control approach for an induction machine using a Backstepping corrector with an integral action. The advantage of the Backstepping Strategy is the ability to manage a nonlinear system. The Lyapunov theory has been used to ensure the system stability. To improve the controller robustness proprieties the integral action is used, despite the system uncertainties and the existence of external disturbances. The unavailable rotor flux is recovered by estimation of the rotor flux of the machine based on the integration of the stator voltage expressions. The simulation results illustrate the effectiveness of the proposed control scheme under load disturbances, rotor resistance variation and low and high speed.

A Novel Fuzzy Observer-Based Steering Control Approach for Path Tracking in Autonomous Vehicles

2018 ◽  
pp. 1-1 ◽  
Author(s):  
Changzhu Zhang ◽  
Jinfei Hu ◽  
Jianbin Qiu ◽  
Weilin Yang ◽  
Hong Sun ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
Path Tracking ◽  
Steering Control ◽  
Control Approach ◽  
Fuzzy Observer

scholarly journals Design of one non-linear adaptive control system and study of its tracking

2019 ◽  
Vol 8 (1) ◽  
pp. 1
Author(s):  
Samiran Maiti ◽  
Achintya Das
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Nonlinear Systems ◽  
Control Method ◽  
Lyapunov Theory ◽  
System Stability ◽  
Control Law ◽  
Adaptive Control System ◽  
Convergence Properties ◽  
Variable Parameters

In this paper, an adaptive control method is proposed for a category of nonlinear systems. As the to begin with step in versatile controller plan, we select the control law which containing variable parameters. At that point select an adaption law for adjusting those parameters. We analyze the convergence properties and system stability using Lyapunov theory. The viability of the proposed approaches is appeared by implies of recreation on MATLAB.

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