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Front wheel angle tracking control research of intelligent heavy vehicle steering system

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2021年第17期235卷 3454-3467页

作者： Huang, Shijun Cao, Wenliang Qian, Ruochen Liu, Yulong Ji, Xuewu Yanshan Univ Coll Mech Engn Qinhuangdao Hebei Peoples R China Tsinghua Univ State Key Lab Automot Safety & Energy Beijing 100084 Peoples R China

This paper conducts the front wheel angle tracking compensation control of the electro-hydraulic coupling power steering system (EHCPS) of the intelligent heavy vehicle (IHV). It has been found from the results of mathematic analysis, simulation and open-loop frequency test of the EHCPS that front wheel angle slightly lags behind handwheel angle at low frequencies. In this paper, a kind of fuzzy neural network controller (FNNC) based on model reference adaptive control (MRAC) is designed. Fuzzy neural network is also used to identify the EHCPS on-line. Membership function and inference rules of the FNNC and fuzzy neural network identification (FNNI) are renewed by the self-learning function of neural network to achieve on-line regulation of controller's parameters. reference model with certain bandwidth and control algorithm are designed to ensure that actual front wheel angle follows desired front wheel angle. Finally, the hardware-in-the-loop experiment and simulation results indicate that the control strategy presented in this paper is effective in compensating front wheel angle tracking within certain bandwidth of EHCPS.

关键词： Electro-hydraulic coupling power steering system model reference adaptive control fuzzy neural network identification heavy vehicle

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The study on the model reference adaptive control with proportional derivative action

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INTERNATIONAL JOURNAL OF control 2012年第6期85卷 765-778页

作者： Bernat, Jakub Stepien, Slawomir Poznan Univ Tech Fac Comp Engn PL-60695 Poznan Poland

This article presents a study on the novel method of model reference adaptive control (MRAC). As a new contribution, the derivative action is included into MRAC control to improve the controller performance and efficiency. The stability is analysed using a recent technique called immersion and invariance. The simulations of derived laws are presented based on nonlinear models.

关键词： adaptive control model reference adaptive control immersion and invariance nonlinear control Lyapunov stability motor control

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An auto-tuning method for dominant-pole placement using implicit model reference adaptive control technique

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JOURNAL OF PROCESS control 2012年第3期22卷 519-526页

作者： Yang, Qiwen Xue, Yuncan Yang, Simon X. Yang, Wailing Hohai Univ Coll Comp & Informat Changzhou 213022 Peoples R China Univ Guelph Sch Engn Guelph ON N1G 2W1 Canada

In order to implement dominant-pole placement by means of auto-tuning scheme, an implicit model reference adaptive system (IMRAS) is presented in this paper. Some issues regarding auto-tuning for dominant-pole placement based on the proposed IMRAS are discussed. The proposed auto-tuning scheme is illustrated on four types of linear models. Simulation results show that dominant poles can be placed near the desired ones which are assigned in the dominant-pole-based reference model. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Pole placement Dominant pole model reference adaptive control PID control

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adaptive control designs for control-based continuation of periodic orbits in a class of uncertain linear systems

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NONLINEAR DYNAMICS 2021年第3期103卷 2563-2579页

作者： Li, Yang Dankowicz, Harry Univ Illinois Dept Mech Sci & Engn Urbana IL 61820 USA

This paper proposes two novel adaptive control designs for the feedback signals used in the control-based continuation paradigm to track families of periodic orbits of periodically excited dynamical systems, including black box simulation models and physical experiments. The proposed control designs rely on modifications to the classical model reference adaptive control framework and the more recent L-1 adaptive control architecture, in which an additional low-pass filter is used to ensure guaranteed transient performance and robustness to time delays in the control input even in the limit of arbitrarily large adaptive gains. In contrast to the proportional control formulations that have been used in the literature on control-based continuation, the proposed control designs achieve stable performance with a minimum of parameter tuning. In the context of a class of linear systems with matched uncertainties, the paper demonstrates the successful integration of adaptive control feedback in control-based continuation. Specifically, the control designs are shown to ensure that the control input stabilizes the sought periodic orbits of the uncontrolled system and vanishes along these orbits, provided that an a priori unknown reference input is chosen appropriately. Numerical results obtained using the coco software package demonstrate how the combination of a nonlinear solver (Newton's method) with the pseudo-arclength parameter continuation scheme can be used to trace the correct choice for the reference input under variations in an excitation parameter.

关键词： Parameter continuation model reference adaptive control L-1 adaptive control Persistent excitation Guaranteed transient performance

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adaptive tracking control of switched linear systems with multiple disturbance observers

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2021年第16期43卷 3499-3518页

作者： Hosseini, Jaber Rahmani, Zahra Noe, Abolfazl Ranjbar Babol Noshirvani Univ Technol Fac Elect & Comp Engn Shariatii St Mazandaran *** Iran

This paper deals with model reference adaptive control for an uncertain switched linear system in the presence of disturbances in the state and control input based on time-dependent switching methods. A novel composite disturbance observer-based adaptive controller with adaptive laws is proposed in a tracking problem of uncertain switched linear system. First, two disturbance observers are proposed to estimate disturbances. Then, a hybrid switched adaptive controller based on state feedback and disturbance observers is designed. Thereafter, based on time-dependent switching signals included dwell-time (DT), average dwell-time (ADT), and the mode-dependent approaches of DT and ADT, a globally uniformly ultimately bounded stability of the closed-loop switched linear system is proved. Finally, the theoretic achievement is applied to a highly manoeuvrable aircraft technology vehicle to demonstrate the significance of the proposed method.

关键词： Switched linear systems model reference adaptive control disturbance observer dwell-time switching average dwell-time switching highlymanoeuvrable aircraft technology (HiMAT)

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Managing driving disturbances in lateral vehicle dynamics via adaptive integrated chassis control

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS 2021年第1期235卷 122-133页

作者： Ahmadian, Narjes Khosravi, Alireza Sarhadi, Pouria Babol Noshirvani Univ Technol Dept Elect & Comp Engn Shariati Av Babol Mazandaran Iran Univ Surrey Fac Engn & Phys Sci Dept Mech Engn Sci Guildford Surrey England

This paper presents a vehicle stability control method based on a multi-input multi-output (MIMO) model reference adaptive control (MRAC) strategy as an advanced driver assistance system (ADAS) to enhance the handling and yaw stability of the vehicle lateral dynamics. The corrective yaw moment and additive steering angle are generated using direct yaw moment control (DYC) and active front steering (AFS) at the upper control level in the hierarchical control algorithm. A nonlinear term is added to the conventional adaptive control laws to handle parametric uncertainties and disturbances. The desired yaw moment generated by the upper-level controller is converted to the brake forces and is distributed to the rear wheels by an optimal procedure at the lower-level. The major contribution of this study is the introduction of a nonlinear integrated adaptive control method based on a constraint optimization algorithm. To verify the effectiveness of the proposed control strategy, the nonlinear integrated adaptive controller, and linear time-varying MRAC are designed and used for comparison. Simulation results are performed for the J-turn and double lane change (DLC) manoeuvres at high speeds and low tyre-road friction coefficients. The desired performance of the proposed controller exhibited significant improvement compared to the conventional MRAC in terms of yaw rate tracking and handling of sideslip limitation.

关键词： Integrated control advanced driver assistance system model reference adaptive control direct yaw moment control active front steering

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Research on coordinated control of hydro-mechanical continuously variable transmission tractor mode switching based on model reference adaptation

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Bulletin of the Polish Academy of Sciences: Technical Sciences 2025年第3期73卷

作者： Xu, Liyou Zhang, Linkuan Wang, Dongqing Liu, Mengnan Zhang, Junjiang Henan University of Science and Technology China State Key Laboratory of Intelligent Agricultural Power Equipment China YTO Group Corporation China

The difference between the speed of the hydraulic speed control system and the mechanical transmission speed is too large during the mode-switching process of the equipped HMCVT tractor, which leads to the deterioration of the smoothness of the mode-switching process. The paper proposes a mode-switching coordination control strategy based on the adaptive model reference. Based on the mode-switching process, the mathematical model of HMCVT mode-switching is constructed. With the output speed of the hydraulic system as the reference model, the output speed of the mechanical transmission as the control object, and the output speed of the mechanical transmission following the output speed of the hydraulic system as the target, the design model reference adaptive controller, based on the MATLAB simulation platform for the simulation test of the control strategy is presented. The results show that when switching from H mode to HM1 mode, the maximum jerk is reduced by 70.3% and the slip friction work is reduced by 28.6%, and when switching from HM1 mode to H mode, the maximum jerk is reduced by 67% and the slip friction work is reduced by 28.9% compared to the use of the rule-based control strategy. © 2025 The Author(s).

关键词： model reference adaptive control

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A proposed model reference adaptive neural network controller based on Taylor development of nonlinear discrete system

A proposed model reference adaptive neural network controlle...

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2022 IEEE International Conference on Electrical Sciences and Technologies in Maghreb, CISTEM 2022

作者： Mahmoud, Ines Errachdi, Ayachi Automatic Laboratory of Research National Engineering School of Tunis El Manar The Department of Electrical Engineering Tunis1002 Tunisia

ISBN: (纸本)9781665451680

This paper presents a developed model reference adaptive neural network control. It illustrates how the derivative function affects directly training speed. Indeed, the classical derivative of the sigmoid activation function decreases the learning speed because a large amount of error is not proportionally propagated back to the weights of the output layer. To overcome this difficulty, this paper proposes a Taylor development of the activation function which is capable of speeding up the learning process significantly and it can provide simultaneously stability of the learning process. The results of simulation show that using Taylor development has better effects both on response time and on tracking performance. © 2022 IEEE.

关键词： model reference adaptive control

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Improvement of transient performance in MRAC by memory regressor extension

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EUROPEAN JOURNAL OF control 2021年 59卷 264-273页

作者： Gerasimov, Dmitry N. Belyaev, Mikhail E. Nikiforov, Vladimir O. ITMO Univ Kronverkskiy Av 49 St Petersburg 197101 Russia

The paper addresses the problem of transient performance improvement of direct model reference adaptive control (MRAC) of discrete linear time-invariant (LTI) plants. Two solutions to the problem are proposed and use the certainty equivalence principle and the idea of regressor recording over a past period of time. The first solution is based on the principle of augmented error , while the second one uses new scheme of high order tuner generating predicted values of adjustable parameters. The recording of the past regressor is provided by application of a special SISO filter (linear operators with "memory") to the closed-loop error model. It is proven and demonstrated by numerical examples that the proposed solutions can provide asymptotic (not exponential) convergence of the adjustable parameters under some simple condition which is weaker than the persistent excitation one. The proposed solution can be considered as a generalization of the identification/adaptation algorithm proposed by Kreisselmeier for continuous systems [21, 22]. (c) 2020 European control Association. Published by Elsevier Ltd. All rights reserved.

关键词： model reference adaptive control Fast parametric convergence Augmented error High order tuner Discrete systems

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Flutter Optimization of a Wing-Engine System with Passive and Active control Approaches

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AIAA JOURNAL 2021年第4期59卷 1422-1440页

作者： Asadi, Davood Farsadi, Touraj Kayran, Altan Adana Alparslan Turkes Sci & Technol Univ Dept Aerosp Engn TR-01250 Adana Turkey Middle East Tech Univ Dept Aerosp Engn TR-06800 Ankara Turkey

In the present study, the flutter performance of a composite thin-walled beam wing-engine system is optimized by implementing two different control approaches: 1) passive open-loop and 2) active closed-loop control. Sequential quadratic programming and genetic algorithm methods are applied in the optimization process. In the passive control method, variable stiffness is acquired by constructing laminates of thin-walled beam with curvilinear fibers having prescribed paths. The goal is to exploit the desirable fiber paths with improved flutter performance to determine an optimized wing-engine aeroelastic configuration. In the active control strategy, piezo-composite actuators and the linear quadratic Gaussian algorithm are used to improve the flutter characteristics. A novel optimization strategy based on the total energy of the aeroelastic system is introduced and applied in both passive and active control strategies. The minimum total aeroelastic energy is an indication of ideal optimization variables, which leads to optimum flutter performance. The governing equations are formulated based on Librescu's thin-walled beam theory and Hamilton's principle. An unsteady aerodynamic model based on incompressible indicial aerodynamics is applied. The governing equations of motion are solved using a Ritz-based solution methodology. Numerical results demonstrate a 16 and 46% improvement in the flutter speed of the wing-engine system using the proposed passive and active control approaches, respectively. The presented results provide valuable information concerning the design of advanced lightweight and high-aspect-ratio aircraft wings with mounted engines in terms of favorable aeroelastic performance characteristics.

关键词： model reference adaptive control Piezoelectric Actuators Total Energy Sequential Quadratic Programming Aeroservoelastic Systems Algebraic Riccati Equation Aircraft Wings High Aspect Ratio Aerodynamic Loads Genetic Algorithm

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