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14th International Carpathian control Conference (ICCC)

作者： Skultety, J. Miklovicoca, E. Bars, R. Slovak Univ Technol Bratislava Fac Elect Engn & Informat Technol Bratislava Slovakia Budapest Univ Technol & Econ Dept Automat & Appl Informat Budapest Hungary

ISBN: (纸本)9781467344906;9781467344883

The model reference control based on modified Laguerre network is an open-loop control structure;therefore it has to be modified to ensure the disturbance rejection. In the paper a new modification using the closed loop with integrator is proposed. This Laguerre-based model reference control algorithm is compared with the control structure augmented by internal model and its stability, robustness and performances are analyzed.

关键词： model reference control Laguerre model internal model control

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Disturbance Observer-based LQR Tracking control for Unmanned Autonomous Helicopter Slung-load System

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2022年第4期20卷 1166-1178页

作者： Liu, Lijun Chen, Mou Li, Tao Nanjing Univ Aeronaut & Astronaut Sch Automat Engn Nanjing 211106 Peoples R China

This work investigates the optimal tracking control for unmanned autonomous helicopter (UAH) slung-load system under external disturbance. Firstly, the linearized UAH slung-load system model is obtained by using the small perturbation linearization method, in which parameter uncertainty and disturbance are considered. Secondly, the control objective is described via a reference model, and the tracking controller is designed for the UAH slung-load system by using the reference model control approach, disturbance observer based-control (DOBC) scheme, and LQR control method. Thirdly, under the proposed tracking controller, the stability of the closed-loop system is analyzed on the basis of Lyapunov stability theory and linear matrix inequality (LMI) technique. Finally, some simulations and comparisons are presented to illustrate the proposed control method.

关键词： Disturbance observer LMI approach LQR tracking control model reference control UAH slung-load system

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Road Preview control for Active Suspension System

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SAE INTERNATIONAL JOURNAL OF VEHICLE DYNAMICS STABILITY AND NVH 2022年第4期6卷 371-383页

作者： Kaldas, Mina M. Soliman, Aref M. A. Abdallah, Sayed A. Mohammad, Samah S. Amien, Fomel F. Ford Motor Co Chassis Controls Saarlouis Germany Benha Univ Banha Egypt

The industrialization of the measurement systems of road profiles enabled the deployment of the road preview control strategies for the vehicle- controlled suspensions. This article proposes a new active suspension control strategy in which a model reference controller (MRC) is improved through the road preview capability. The road preview control uses the feed-forward road input signals and the feedback vehicle state signals as controller inputs. A thirteen degree-of-freedom (DOF) full vehicle vertical dynamics model including stabilizer bars is used. Eight proportional integral derivative (PID) controllers for sprung and unsprung masses have been used in the control strategy. The controller parameters including the preview distance have been obtained by using a gradient-based optimization routine with an objective function that includes both ride comfort and road holding. The ride performance of the road preview control strategy is evaluated by using a measured stochastic road profile. The results illustrated the potential of the road preview control strategy to improve the ride performance compared with the MRC without road preview control.

关键词： Preview control MRC model reference control Active suspension Ride comfort Road holding Vehicle dynamics

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model reference control to Reduce both the Jerk and Frictional Loss during DCT Gear Shifting

Model Reference Control to Reduce both the Jerk and Friction...

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American control Conference

作者： S. L. Yuan L. Chen National Engineering Laboratory of Automotive Electronic Control Technology Institute of Automotive Engineering School of Mechanical Engineering Shanghai Jiao Tong University School of Mechanical Engineering Shanghai Jiao Tong University

ISBN: (纸本)9781479901777

A research of achieving a brand-new balance between controlling the jerk level and decreasing the frictional energy loss during Dual-clutch Transmission (DCT)'s gearshifts has been done in this paper. The general gearshift of a DCT is divided into several stages for better dynamic derivation and controller design. Based on detailed dynamic modeling, the model reference control (MRC) method is proposed and integrated into the traditional control logic together with PID control configuration so as to observe the best gearshift quality. Numeric simulations and parallel parameter optimization is proceeded on Matlab platform. The results demonstrate that the MRC method applied on DCT clutch control can evidently reduce both the jerk shock and frictional loss of dual-clutch operations, which proves MRC method as a wise choice of DCT controlling strategy. Meanwhile, several theoretical predictions have been verified by the simulation curves to show the effectiveness of MRC again.

关键词： Frictional Loss during DCT Gear Shifting DCT MRC discrete cosine transforms DCT gene MAINTENANCE REQUIREMENT CARD Gear shifting Friction losses Ballismus model reference control Parameter optimization double clutch controller design

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Bayes control of Hammerstein Systems 19

Bayes Control of Hammerstein Systems

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19th IFAC Symposium on System Identification (SYSID)

作者： Ferizbegovic, Mina Mattsson, Per Schon, Thomas B. Hjalmarsson, Hakan KTH Royal Inst Technol Div Decis & Control Syst Stockholm Sweden Uppsala Univ Dept Informat Technol Uppsala Sweden

In this paper, we consider data driven control of Hammerstein systems. For such systems a common control structure is a transfer function followed by a static output nonlinearity that tries to cancel the input nonlinearity of the system, which is modeled as a polynomial or piece-wise linear function. The linear part of the controller is used to achieve desired disturbance rejection and tracking properties. To design a linear part of the controller, we propose a weighted average risk criterion with the risk being the average of the squared L-2 tracking error. Here the average is with respect to the observations used in the controller and the weighting is with respect to how important it is to have good control for different impulse responses. This criterion corresponds to the average risk criterion leading to the Bayes estimator and we therefore call this approach Bayes control. By parametrizing the weighting function and estimating the corresponding hyperparameters we tune the weighting function to the information regarding the true impulse response contained in the data set available to the user for the control design. The numerical results show that the proposed methods result in stable controllers with performance comparable to the optimal controller, designed using the true input nonlinearity and true plant. Copyright (C) 2021 The Authors.

关键词： Bayesian methods model reference control Hammerstein system

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Energy-Based Analysis of String Stability in Heterogeneous Platoons 94

Energy-Based Analysis of String Stability in Heterogeneous P...

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94th IEEE Vehicular Technology Conference (VTC-Fall)

作者： Mokogwu, Chiedu N. Hashtrudi-Zaad, Keyvan Queens Univ Dept Elect & Comp Engn Kingston ON Canada

ISBN: (纸本)9781665413688

Analysis of string stability in vehicle platoons has mainly been confined to strings of vehicles having similar dynamics. In this scenario, errors propagate uniformly downstream in the string, making string stability analysis convenient. In real driving and platooning scenarios, homogeneity of vehicles is highly unlikely. This means errors amplify/attenuate in a nonuniform manner downstream, as a result of differing dynamics of the current and preceding vehicles appearing in the platoon error dynamic model. This complicates string stability analysis. To remedy this issue, a dynamic proxy to decouple the error dynamics of current vehicle from its predecessor is proposed. Then, by utilizing passivity-based techniques to constrain the output strict passivity index of each vehicle subsystem in the string to unity through a two-stage control strategy, the condition for string stability is met. Validation of the proposed strategy through numerical simulations is presented.

关键词： string stability vehicle platoons vehicle dynamics heterogeneous platoons passivity model reference control output strict passivity adaptive cruise control

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Adaptive Robust Path Tracking control for Autonomous Vehicles Considering Multi-Dimensional System Uncertainty

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WORLD ELECTRIC VEHICLE JOURNAL 2023年第1期14卷 11-11页

作者： Chen, Mengyuan Ren, Yue Ou, Minghui Chongqing Vocat Inst Engn Big Data & Internet Things Sch Chongqing 402260 Peoples R China Southwest Univ Coll Engn & Technol Chongqing 400715 Peoples R China

As the bottom layer of the autonomous vehicle, path tracking control is a crucial element that provides accurate control command to the X-by-wire chassis and guarantees the vehicle safety. To overcome the deterioration of control performance for autonomous vehicle path-tracking controllers caused by modeling errors and parameter perturbation, an adaptive robust control framework is proposed in this paper. Firstly, the 2-DOF vehicle dynamic model is established and the non-singular fast terminal sliding mode control algorithm is adopted to formulate the control law. The unmeasured model disturbance and parameter perturbation is regarded as the system uncertainty. To enhance the control accuracy, the radial basis forward neural network is introduced to estimate such uncertainty in real time. Then, the dynamic model of an active front steering system is established. The model reference control algorithm is applied for the steering torque control considering model uncertainty brought by the dissipation of manufacturing and mechanical wear. Finally, the Simulink-CarSim co-simulation platform is used and the proposed control framework is validated in two test scenarios. The simulation results demonstrate the proposed adaptive robust control algorithm has satisfactory control performance and good robustness against the system uncertainty.

关键词： autonomous vehicle path tracking control non-singular fast terminal sliding mode control model reference control

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Comparison Between PI and Neural Network controller for Dual Active Bridge Converter 15

Comparison Between PI and Neural Network Controller for Dual...

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15th International Conference on Compatibility, Power Electronics and Power Engineering (CPE-POWERENG)

作者： Bindi, Marco Garcia, Carlos Iturrino Corti, Fabio Piccirilli, Maria Cristina Luchetta, Antonio Grasso, Francesco Manetti, Stefano Univ Florence Dept Informat Engn Florence Italy Univ Perugia Dept Ind Engn Perugia Italy

ISBN: (纸本)9781728180717

In this paper a comparison is presented between two strategies for the control of a Dual Active Bridge (DAB) converter regulated through Single Phase Shift (SPS) modulation. The purpose of the controller is to regulate the phase-shift between the voltage impressed to the inductor from the primary and the secondary converter to obtain the desired output current. To achieve this goal, two control strategies based on different approaches are proposed. The first one performs the regulation using a Proportional-Integral (PI) controller, while the second one, called model reference control (MRC), performs the regulation through Neural Networks ( NN). The obtained results show that the Artificial Intelligence (AI) based technique has comparable reference current tracking performance and better dynamic characteristics. Furthermore, this technique does not require the mathematical model of the converter and can be used in a wider range of operating conditions.

关键词： DC-DC power converter Dual Active Bridge model reference control PI controller Neural Networks

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Time-Variant Discrete-Time Sliding Mode control 22

Time-Variant Discrete-Time Sliding Mode Control

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22nd International Carpathian control Conference (ICCC)

作者： Adamiak, Katarzyna Lodz Univ Technol Inst Automat Control Lodz Poland

ISBN: (纸本)9781728186092

Time-variant sliding planes have been successfully applied in continuous-time sliding mode control for decades. Their main advantage is the elimination of the reaching phase, which results in the system's insensitivity to external disturbances and modelling uncertainties in the whole regulation process. In this paper, the properties of time-variant sliding planes are transferred to the discrete-time domain. The study presents a new time-variant sliding mode control for sampled data systems. The strategy assumes generating a reference sliding variable profile in advance and treating it as a time-variant sliding plane. Therefore, the sliding variable of the real system is defined as the distance between the system's representative point and its reference position in each step. This approach eliminates the reaching phase, provides all the properties of the switching-type quasi-sliding mode, as defined by Gao et al., and ensures a reduction of the quasi-sliding mode band width compared to reaching law based approach in the entire regulation process.

关键词： discrete-time systems model reference control sliding mode control time-varying sliding surface variable structure systems

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A self-constructing Lyapunov neural network controller to track global maximum power point in PV systems

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INTERNATIONAL TRANSACTIONS ON ELECTRICAL ENERGY SYSTEMS 2020年第6期30卷 1-15页

作者： Tavakoli, Alireza Forouzanfar, Mehdi Islamic Azad Univ Dept Elect Engn Ahvaz Branch Ahwaz Iran

This study suggests an intelligent control method for achieving the maximum power point tracking (MPPT) in photovoltaic (PV) systems. MPPT technologies in PV systems are used to transfer maximum power under various environmental conditions. To improve the performance of the MPPT, the study develops a two-level adaptive control structure that can facilitate system control and efficiently handle uncertainties and perturbations in the PV systems and in the environment. The first control level is a ripple correlation control (RCC), and the second is a model reference adaptive control (MRAC). The paper emphasizes mainly on designing an MRAC algorithm that improves the underdamped dynamic response of the PV system. The original state-space equation of the PV system is time-varying and nonlinear, and its step response contains oscillatory transients that damp slowly. Using a self-constructing Lyapunov neural network (SCLNN), an adaptive law of the controller is derived for the MRAC system to remove the underdamped modes in the PV systems. Also, a self-constructing mechanism for generating blocks in the recursive unit of the SCLNN is introduced. Since the size of the SCLNN is optimal and minimal, the computation time, which is an important factor for real-time implementation, is greatly reduced. It is shown that the proposed control algorithm enables the system to converge to the maximum power point in milliseconds.

关键词： model reference control photovoltaic systems ripple correlation control self-constructing Lyapunov neural network

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