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Distance-based formation control for multi-lane autonomous vehicle platoons

IET control THEORY AND APPLICATIONS 2021年第11期15卷 1506-1517页

作者： Zheng, Yajun Wang, Qingling Cao, Dongpu Fidan, Baris Sun, Changyin Southeast Univ Sch Automat Nanjing 210096 Peoples R China Univ Waterloo Dept Mech & Mechatron Engn Waterloo ON Canada

This paper investigates the formation control of connected autonomous vehicle (CAV) platoons moving in multi lanes using distance-based formation control techniques based on rigid graphs and V2V communication. A hierarchical architecture is proposed to decompose the cooperative control into velocity planning and vehicle dynamic control. A new velocity planning method is first developed via a distributed distance-based formation controller so that each vehicle can keep platoon and change lane. Then, for the vehicle dynamics with nonlinearities and bounded disturbances, an adaptive controller is designed for regulating driving/braking torque to achieve the longitudinal velocity output of the velocity planner. The steering controller is designed to adjust the yaw angle of each vehicle to track and change lanes. Furthermore, stability analysis is conducted based on the Lyapunov theory. Finally, the applications of the proposed control designs to various of automated highway system (AHS) scenarios including lane-change, curve lane and platoon overtaking, are simulated and numerically analysed to validate the effectiveness of theoretical results.

关键词： Spatial variables control Velocity, acceleration and rotation control Road-traffic system control Mobile robots Vehicle mechanics control system analysis and synthesis methods Stability in control theory Self-adjusting control systems

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Adaptive backstepping complementary sliding mode control with parameter estimation and dead-zone modification for PMLSM servo system

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IET POWER ELECTRONICS 2021年第4期14卷 785-796页

作者： Jin, Hongyan Zhao, Ximei Wang, Tianhe Shenyang Univ Technol Sch Elect Engn 111 Shenliao West Rd Shenyang 110870 Liaoning Peoples R China

An adaptive backstepping complementary sliding mode control (ABCSMC) with dead-zone parameter modification applicable to the permanent magnet linear synchronous motor is proposed in order to achieve high-performance servo control fields. On the theoretical foundation of backstepping control and sliding mode control, a strong robust controller, ABCSMC is designed to compensate the uncertainties such as parameter variations and external disturbances occurring in the system. Additionally, an adaptive saturation function is utilized in ABCSMC to avoid the difficulty of parameter selections, so that the optimal parameters can be tuned by the adaptive laws in real time. Moreover, in order to avoid the parameter-drift phenomenon of the adaptive laws, dead-zone parameter modification is hereby proposed by setting a performance threshold to solve the overtraining problem. Finally, the stability of the system is proved through Lyapunov theorem and Barbalat's lemma. To investigate the capabilities of the proposed scheme, an experimental platform based on digital signal processor is implemented. The comparison results demonstrate that the proposed controller is capable of achieving higher tracking performance and stronger robustness to uncertainties with respect to parameter variations and external disturbances.

关键词： Synchronous machines control system analysis and synthesis methods Stability in control theory Multivariable control systems Self-adjusting control systems Nonlinear control systems control of electric power systems

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Composite control with observer for switched stochastic systems subject to multiple disturbances and input saturation

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IET control THEORY AND APPLICATIONS 2021年第2期15卷 166-178页

作者： Wei, Yunliang Liu, Guo-Ping Yang, Jun Qufu Normal Univ Sch Math Sci Qufu 273165 Shandong Peoples R China Wuhan Univ Dept Artificial Intelligence & Automat Wuhan Peoples R China Southeast Univ Sch Automat Key Lab Measurement & Control CSE Minist Educ Nanjing Peoples R China

This paper investigates the composite hierarchical anti-disturbance control problem for switched systems with saturating inputs, in which the multiple disturbances including normal-bounded disturbances, white noises and nonlinear uncertainties are considered. According to whether the states of the system be available or not, two types of disturbance observers and a state observer are designed, respectively. With the values of the observers, the observer-based composite controllers are constructed accordingly, under which an uniform form of the closed-loop system is presented. By utilising the minimum dwell-time technique and stochastic control theory, a new criterion of the mean-square exponential stability is presented for the closed-loop system with a weighted H infinity performance level. The design conditions of the observers for the disturbances generated by exosystem and states of the system are proposed by propositions, respectively. Based on the gains of the observers, the solvable synthesis conditions of the composite controllers are presented for the cases of the available and unavailable states of the system. The simulations of GE-90 aero-engine model and a numerical example are employed to verify the applicability of the obtained results.

关键词： control system analysis and synthesis methods Stability in control theory Optimal control Time-varying control systems Nonlinear control systems

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Cooperative control of deadbeat predictive and state error port-controlled Hamiltonian method for permanent magnet synchronous motor drives

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IET ELECTRIC POWER APPLICATIONS 2021年第10期15卷 1343-1357页

作者： Zhao, Yujiao Yu, Haisheng Qingdao Univ Coll Automat Qingdao 266071 Peoples R China

In this article, a cooperative control combining deadbeat predictive control (DBPC) and state error port-controlled Hamiltonian (EPCH) method is presented for permanent magnet synchronous motor drives. This effective combination is achieved by a cooperation scheme based on the error function. First, the DBPC is introduced to provide a fast dynamic response, and the state EPCH method based on the loss model is constructed to get good steady-state performance and high efficiency. After that, to combine the advantages of both controllers, the improved sigmoid function based on real-time position error is designed as a cooperative scheme. Each control method can be utilised effectively within the corresponding range. Meanwhile, the switching process is continuous and smooth without unnecessary chattering. Thus, the proposed method not only solves the contradiction between dynamic and steady performance but also optimises energy consumption. Finally, the proposed method is verified experimentally. The results show that the motor control system based on the proposed method has fast dynamic transient response and good steady-state performance with high efficiency.

关键词： fast dynamic transient response transient response cooperative control motor control system control of electric power systems state EPCH method Current control predictive control electric current control synchronous motor drives control system synthesis energy consumption sigmoid function control system analysis and synthesis methods state error port-controlled Hamiltonian method error function velocity control Velocity, acceleration and rotation control DBPC permanent magnet motors Synchronous machines machine control real-time position error Optimal control steady-state performance deadbeat predictive control permanent magnet synchronous motor drives Drives

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The sliding mode control approach design for nonholonomic mobile robots based on non-negative piecewise predefined-time control law

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IET control THEORY AND APPLICATIONS 2021年第9期15卷 1286-1296页

作者： Lin, Lixiong Wu, Peixin He, Bingwei Chen, Yanjie Zheng, Jiachun Peng, Xiafu Fuzhou Univ Sch Mech Engn & Automat Fuzhou Fujian Peoples R China Jimei Univ Sch Informat Engn Xiamen Fujian Peoples R China Xiamen Univ Dept Automat Xiamen 361005 Fujian Peoples R China

In this paper, a novel trajectory tracking control method of nonholonomic mobile robots based on the non-negative piecewise predefined-time theorem is proposed. The idea of cascade control is used to divide the posture error system of the mobile robot into two subsystems. Firstly, for the first-order subsystem, an active predefined-time controller is designed to realize that the angle error system converges and stabilizes to zero within a given time, which is preset in advance. Secondly, a novel predefined-time sliding mode controller is designed for the second-order subsystem, which adds a constant to compensate for the influence of singularity. Moreover, compared with the existing fixed-time control algorithm, the control scheme proposed in this paper provides a more accurate upper bound of the settling time estimation. For convenience, the complex expression of the settling time estimation is transformed into an adjustable parameter. Furthermore, the stability of the two developed controllers is analyzed and some conditions for selecting parameters are given. Finally, the simulation results show the feasibility and correctness of the proposed control algorithm.

关键词： Spatial variables control Mobile robots control system analysis and synthesis methods Stability in control theory Multivariable control systems

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An improved control technique for designing of composite non-linear feedback control in constrained time-delay systems

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IET control THEORY AND APPLICATIONS 2021年第2期15卷 149-165页

作者： Ghaffari, Valiollah Persian Gulf Univ Sch Engn Dept Elect Engn Bushehr Iran

In this research, a novel delay-dependent composite non-linear feedback (CNF) control would be pointed for non-linear time-delay systems under actuator saturation. For this aim, first, the CNF controller would be formulated in the constrained time-delay systems. Then, a linear matrix inequality (LMI) approach is presented to obtain the controller parameters. Hence, the control synthesis of the constrained non-linear time-delay systems is transformed into an optimisation problem subjected to some LMIs. The suggested controller is simulated in some numerical examples like a chemical reactor with separator and recycle. The computed quantitative results will demonstrate the capability of the proposed CNF control approach compared to other best methods.

关键词： Algebra Other topics in statistics Linear control systems control system analysis and synthesis methods Stability in control theory Optimal control Distributed parameter control systems Nonlinear control systems

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Event-triggered second-moment stabilisation under action-dependent Markov packet drops

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IET control THEORY AND APPLICATIONS 2021年第7期15卷 949-964页

作者： Bose, Shourya Tallapragada, Pavankumar Indian Inst Sci Dept Elect Engn Bengaluru 560012 Karnataka India

This paper considers the problem of the second-moment stabilisation of a scalar linear plant with process noise. It is assumed that the sensor communicates with the controller over an unreliable channel, whose state evolves according to a Markov chain, with the transition matrix on a timestep depending on whether there is a transmission on that timestep. Under such a setting, an event-triggered transmission policy is proposed which meets the objective of exponential convergence of the second moment of the plant state to an ultimate bound. Further, upper bounds on the transmission fraction of the proposed policy are provided. The results are illustrated through an example scenario of control in the presence of a battery-equipped energy-harvesting sensor. The proposed control design as well as the analytical guarantees are verified through simulations for the example scenario.

关键词： Radio links and equipment Wireless sensor networks Linear control systems control system analysis and synthesis methods Stability in control theory

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Stability of impulsive switched systems with sampled-data control

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IET control THEORY AND APPLICATIONS 2021年第4期15卷 523-533页

作者： Lian, Jie Li, Chunyang Zhai, Guisheng Dalian Univ Technol Minist Educ Key Lab Intelligent Control & Optimizat Ind Equip Dalian 116024 Peoples R China Dalian Univ Technol Sch Control Sci & Engn Dalian Peoples R China Shibaura Inst Technol Coll Syst Engn & Sci Dept Math Sci Saitama Japan

This paper investigates the sampled-data control of impulsive switched systems with asynchronous switching. The impulses are not required to synchronise the switching. Since it is possible that switches may occur in sampling intervals, the mismatched problem may happen between controllers and system modes. Aiming for this, a functional consisting of multiple impulse-dependent Lyapunov functions and looped functionals is constructed, which does not increase at impulsive times. By using ADT method, some sufficient conditions for exponential stability are proposed in terms of linear matrix inequalities. Furthermore, sampled-data controllers are presented to stabilise the impulsive switched systems. The efficiency of the proposed results is verified by an F-18 aircraft.

关键词： Algebra control system analysis and synthesis methods Stability in control theory Discrete control systems Time-varying control systems

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Resilient path-following control of autonomous vehicles subject to intermittent denial-of-service attacks

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IET INTELLIGENT TRANSPORT systemS 2021年第12期15卷 1508-1521页

作者： Wang, Yulei Bian, Ning Zhang, Lin Huang, Yanjun Chen, Hong Tongji Univ Dept Control Sci & Engn Shanghai Peoples R China Dongfeng Motor Corp Dongfeng Tech Ctr Wuhan Peoples R China Tongji Univ Clean Energy Automot Engn Ctr Shanghai Peoples R China Jilin Univ State Key Lab Automot Simulat & Control Changchun Peoples R China

An autonomous vehicle (AV) is a cyber-physical system (CPS) incorporating dynamics, perception sensors (e.g. camera and radar), embedded electronic control units (ECUs) and in-vehicle networking (e.g. CAN, LIN and FlexRay).Achieving path-following control of an AV to track a desired path is therefore a highly non-linear task that is naturally vulnerable to denial-of-service (DoS) attacks. Considering that DoS attacks can inhibit the services of a control system by overwhelming the performance capabilities of the ECUs or the bus, this paper investigates the cyber-physical system problem of path-following control for AVs under intermittent DoS attacks. To solve this problem, we propose resilient observer-based non-linear control based on the triple-step approach. The core ideas behind this method are the integrated design of the observer and feedback gains incorporating the DoS duration and the convex design of controller parameters by solving a set of linear matrix inequalities. The proposed control scheme guarantees that the closed-loop system maintains input-to-stable stability, while the error signals theoretically converge to a small neighbourhood of the origin. The effectiveness of the proposed approach is confirmed by the simulation results obtained for a high-fidelity veDYNA full-vehicle model with different driving tests and DoS attacks.

关键词： Algebra Optimisation techniques control system analysis and synthesis methods Stability in control theory Optimal control Nonlinear control systems Mobile robots Vehicle mechanics

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A fuzzy adaptive admittance controller for force tracking in an uncertain contact environment

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IET control THEORY AND APPLICATIONS 2021年第17期15卷 2158-2170页

作者： Li, Zhisen Huang, Hailin Song, Xiaogang Xu, Wenfu Li, Bing Harbin Inst Technol Sch Mech Engn & Automat Shenzhen 518055 Peoples R China

Traditional constant admittance controller (CAC) in uncertain contact environment is highly dependent on environmental location and stiffness, which are always difficult to obtain in most applications. To address this problem, a fuzzy adaptive admittance controller (FAAC) based on fuzzy inference rules is proposed in this paper. Firstly, an adaptive admittance controller (AAC) that can compensate for the admittance parameters in real time based on force error information is proposed. Secondly, a fuzzy logic loop is introduced into the adaptive term of the AAC system to reduce the overshoot when force tracking, thus creating the FAAC. The detailed design method of FAAC is presented, and the stability conditions are analysed. Finally, simulations and experiments are conducted in several dynamic environments to demonstrate the force tracking performance of the proposed controller.

关键词： control system analysis and synthesis methods Stability in control theory Self-adjusting control systems Fuzzy control Mechanical variables control Manipulators control engineering computing Elasticity (mechanical engineering) Robot and manipulator mechanics Reasoning and inference techniques

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