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22nd Mediterranean Conference on control and Automation (MED)

作者： Oswald, Markus Blaich, Michael Wirtensohn, Stefan Reuter, Johannes Univ Appl Sci Konstanz Fac Elect Engn D-78462 Constance Germany

ISBN: (纸本)9781479959013

This paper presents a method to efficiently solve the control allocation problem of vessels propelled by two azimuth thrusters with limited panning range. The use of rotatable thrusters results in a configuration matrix that, in the context of control allocation, typically leads to a constrained nonlinear optimization problem. It is shown, how this can be transformed into an easy to solve scalar unconstrained problem by using simple geometrical relations. Using a cost criterion from the literature for minimum power consumption, however, leads to discontinuities due to the limited panning angle range of the thrusters. By introducing a parameterized cost function, the discontinuities in the panning motion of the thrusters can be largely avoided.

关键词： costing marine control matrix algebra nonlinear programming optimal control remotely operated vehicles ASC autonomous surface crafts azimuth-like thrusters configuration matrix constrained nonlinear optimization problem cost criterion geometrical relations limited panning angle range minimum power consumption optimal control allocation parameterized cost function rotatable thrusters scalar unconstrained problem vessels Azimuth Force Optimization Power demand Propulsion Resource management Vectors

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Adaptive optimal control allocation using Lagrangian neural networks for stability control of a 4WS-4WD electric vehicle

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2013年第8期35卷 1139-1151页

作者： Demirci, Murat Gokasan, Metin TUBITAK MRC Energy Inst TR-41470 Gebze Turkey Istanbul Tech Univ Istanbul Turkey

This study involves a layered vehicle dynamics control system, which is composed of an adaptive optimal control allocation method using Lagrangian neural networks for optimal distribution of tyre forces and the sliding mode yaw moment observer for robust control of yaw dynamics. The proposed optimal control allocation method eliminates the requirement of solving optimization problem in every time step and it is a convergent and stability guaranteed solution for the optimal tyre force distribution problem. The aim in the sliding mode yaw moment observer is to force the vehicle to track a reference vehicle dynamic behaviour by estimating the equivalent input extended disturbance, which is the required stabilizing virtual yaw moment. The proposed layered stability control scheme has been tested on a four-wheel drive-four-wheel steer electric Fiat Doblo Van, which is modelled in CarSim. Both the sliding mode disturbance observer and the optimal control allocation methods are the first known applications to the stability control problem of road vehicles.

关键词： Lagrangian neural networks optimal control allocation sliding mode control vehicle dynamics control yaw moment observer

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System stability improvement through optimal control allocation in voltage source converter-based high-voltage direct current links

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IET GENERATION TRANSMISSION & DISTRIBUTION 2012年第9期6卷 811-821页

作者： Pipelzadeh, Y. Chaudhuri, N. R. Chaudhuri, B. Green, T. C. Univ London Imperial Coll Sci Technol & Med Dept Elect & Elect Engn Control & Power Res Grp London England

control of both active and reactive power in voltage source converter (VSC)-based high-voltage direct current (HVDC) links could be very effective for system stability improvement. The challenge, however, is to properly allocate the overall control duty among the available control variables in order to minimise the total control effort and hence allow use of less expensive converters (actuators). Here relative gain array and residue analysis are used to identify the most appropriate control loops avoiding possible interactions. optimal allocation of the secondary control duty between the two ends of the VSC HVDC link is demonstrated. Active and reactive power modulation at the rectifier end, in a certain proportion, turns out to be most effective. Two scenarios, with normal and heavy loading conditions, are considered to justify the generality of the conclusions. Subspace-based multi-input-multi-output system identification is used to estimate and validate linearised state-space models through pseudo random binary sequence probing. Linear analysis is substantiated with non-linear simulations in DIgSILENT PowerFactory with detailed representation of HVDC links.

关键词： pseudorandom binary sequence probing optimal control rectifying circuits control of electric power systems active power control DIgSILENT PowerFactory simulation Multivariable control systems binary sequences voltage source converter HVDC link nonlinear simulation Power convertors and power supplies to apparatus Power and energy control linearised state-space model optimal control VSC random sequences control loop HVDC power convertors active power modulation subspace-based multiinput-multioutput system identification system stability improvement rectifier secondary control duty optimal control allocation linear analysis state-space methods reactive power control Stability in control theory high-voltage direct current link reactive power control actuator stability MIMO systems reactive power modulation relative gain array residue analysis

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Comparison between optimal control allocation with Mixed Quadratic & Linear Programming Techniques

Comparison between Optimal Control Allocation with Mixed Qua...

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10th IFAC Conference on control Applications in Marine Systems (CAMS)

作者： Grechi, Simone Caiti, Andrea Univ Pisa Dept Informat Engn Pisa Italy Univ Pisa Ctr E Piaggio Pisa Italy Interuniv Ctr Integrated Syst Marine Environm ISM Genoa Italy

The paper provides a comparison between different control allocation techniques in over-actuated Autonomous Underwater Vehicles. The pseudoinverse, Linear Programming (LP), Quadratic Programming (QP), Mixed Integer Linear Programming (MILP) and Mixed Integer Quadratic Programming (MIQP) are evaluated in simulation on the V-Fides vehicle model. The MILP and MIQP techniques allow to include in their implementations a more detailed characterization of the non-linear static behaviour of the actuators. This customizability can be also exploited to improve the practical stability of the system. The metrics used for comparison include the maximum attainable forces and torques, the integral of the error allocation and the required thrusters effort. Our simulation results show that, in particular with respect to thrusters effort, MILP and MIQP are the preferred allocation methods. The computational complexity associated to both methods is not such to compromise their implementation in operating vehicles;in particular, the MILP version is currently implemented in the V-Fides vehicle. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： optimal control allocation Quadratic Programming Linear Programming Mixed-Integer Linear Programming Mixed-Integer Quadratic Programming

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An optimal control allocation Strategy for an Eight In-wheel-motor Drive Electric Vehicle 43

An Optimal Control Allocation Strategy for an Eight In-wheel...

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43rd Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Zhang, Chengning Chen, Yong Wang, Zhifu Wang, Cong Beijing Inst Technol Natl Engn Lab Elect Vehicles Beijing Peoples R China

ISBN: (纸本)9781538611272

In this paper, an optimal control allocation strategy is presented for an eight in-wheel-motor independent drive electric vehicle/four double front wheel steering(8WD/4WS). The upper level controller consists of a speed following controller and two sliding mode controllers. The speed tracking controller obtains the desired longitudinal force by tracking the longitudinal speed. Two sliding mode controllers obtain the desired lateral force and the desired yaw moment by controlling the sideslip angle error and the yaw rate error, respectively. The lower level controller optimizes the torque distribution using the optimal objective function calculated by Weighted Least Squares(WLS) in eight wheel motors and brakes with comprehensive considering constraint conditions. Closed-loop simulations are carried out in different working conditions such as single lane change and double lane change. The optimal control allocation strategy established by this paper can greatly improve the vehicle handling stability with contrast to the average torque distribution strategy and the tire dynamic-load-based torque distribution strategy.

关键词： eight in-wheel-motor drive vehicle optimal control allocation electric vehicle

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Intelligent control algorithms to ensure the flight safety of aerospace vehicles

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ACTA ASTRONAUTICA 2025年 226卷 782-790页

作者： Chernyshev, S. Sypalo, K. Bazhenov, S. Russian Acad Sci 32a Leninsky Prospekt Moscow Russia Cent Aerohydrodynam Inst 1 Zhukovsky Str Zhukovskii 140180 Moscow Russia

An overview of the architectures, functions and algorithms of aircraft-type aerospace vehicles equipped with flyby-wire (FBW) digital integrated control systems (ICS) is given. The ICS has a hierarchical architecture, including the primary, backup and emergency control systems with a sophisticated control reconfiguration logic in the event of failures. Digital control computers have dissimilar redundancy of equipment and software. At the atmospheric flight stage, integrator control laws provide the specified control characteristics, flight envelope protection, automatic trim of vehicle and crew workload alleviation. Further integration of manual and automatic control, implementation of the control philosophy as a continuation of the pilot's actions, more intellectual control system and human-machine interface, use of multiple control surfaces to ensure optimal vehicle configuration and alleviate structural loading together with basic control functions are considered as promising areas for ICS improvement.

关键词： Aerospace vehicle Flight safety Stability Integrated control and monitoring system MIMO control optimal control allocation

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Hierarchical Planar Platoon control Toward Tracking Safety for Distributed-Driven Vehicles

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IEEE ACCESS 2023年 11卷 101776-101789页

作者： Dong, Jia-Chen Gao, Qin-He Liu, Zhi-Hao Xian High Tech Res Inst Xian 710025 Peoples R China

This paper deals with the planar platoon control problem of distributed-driven electric vehicles considering modeling deviations and driving disturbances. The follower vehicle is arranged to track the leader vehicle on curved roads with high tracking accuracy and driving security. A hierarchical integrated control framework is proposed based on disturbance-rejection robust model predictive control (DRRMPC) strategy and optimal control allocation (OCA) approach. The upper layer is a feedforward control layer, where a linear time-varying (LTV) model predictive controller (MPC) produces constrained predictive control towards a nominal model. The time-interval-based reference states are obtained from a ''shadow following'' trajectory generator through vehicle-to-vehicle (V2V) communication. In the middle layer, the feedback control consisting of a robust controller (RC) and the disturbance compensation out of an extended state observer (ESO), take effect to reconfigure the LTV vehicle model into the nominal model with an offline calculated constraint tube. The bottom layer performs optimal control allocation among decoupled motor torques and wheel angles towards minimal tire force utilization. Hardware-in-the-Loop (HIL) experiment validates the effectiveness and practicability of the proposed platoon control strategy.

关键词： ~Platoon control disturbance-rejection robust model predictive control optimal control allocation linear time-varying system

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Gain-scheduling robust control for a tire-blow-out road vehicle

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2019年第2期233卷 344-362页

作者： Jing, Houhua Liu, Zhiyuan Harbin Inst Technol Dept Control Sci & Engn POB 32792 Xidazhi ST Harbin 150001 Heilongjiang Peoples R China

This paper presents a robust control approach to keeping directional and driving stability for a road vehicle after a tire blow-out. Considering the time-varying vehicle velocity as well as the uncertain tire characteristics, a linear parameter varying vehicle model is built. With front wheel steering angle and yaw control moment as control inputs, a gain-scheduling H infinity controller is developed to attenuate the effects of a flat tire. An optimal control allocation law is presented to perform the yaw control moment by differential braking on the other three tires. Finally, a hardware-in-the-loop testing system, composed of the veDYNA high-fidelity software program and an actual automotive hydraulic braking system, is utilized for controller validation. The results clearly demonstrate the effectiveness of the proposed coordinated controller in improving vehicle directional stability and robustness against the disturbances caused by a tire blow-out.

关键词： Tire blow-out robust H infinity control gain scheduling optimal control allocation hardware-in-the-loop simulation

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From singularity analysis to singularity avoidance: novel metric and convex allocation for spacecraft attitude control with control moment gyros

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ACTA ASTRONAUTICA 2024年 225卷 41-54页

作者： Pereira, Hugo Lourenco, Pedro Batista, Pedro Univ Lisbon Inst Super Tecn Inst Syst & Robot Lizbon Portugal GMV Alameda Oceanos 115 P-1990392 Lisbon Portugal

Singularities in robotics lead to a reduction in the number of degrees of freedom. When it comes to spacecraft employing control moment gyros (CMGs), singularities may occur due to the internal alignment of the gimbals, which inhibit the creation of torque in at least one direction. This translates into a loss of control authority that has a direct impact on the spacecraft's pointing performance. In this work, a convex optimization-based allocation framework for singularity avoidance is put forward. The presented solution aims to provide a singularity-robust allocation scheme that can be used as an add-on to a conventional attitude controller. To this end, the proposed algorithm employs a novel, computationally efficient, and numerically robust singularity metric to assess the proximity to the singularities of a cluster of CMGs. With this information, a model predictive controller determines control actions that guide the system towards singularity-free configurations. A particularity about this allocation algorithm is that its formulation boils down to a simple set of convex equalities and inequalities, given that the new singularity metric can be written in a linear form, unlike most of the literature solutions, such as the condition number, which are highly complex and nonlinear. Lastly, the proposed approach is applied to a two-dimensional CMG cluster in a realistic simulation environment. The results confirm that the system effectively avoids all the internal singularities of the cluster at a relatively low computational expense.

关键词： control moment gyros Singularities Singularity metric Singularity avoidance optimal control allocation

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optimal control of thrust-vectored VTOL UAV in high-manoeuvering transition flight

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AERONAUTICAL JOURNAL 2018年第1250期122卷 598-619页

作者： Liu, Z. Tang, S. Li, M. Guo, J. Beijing Inst Technol Sch Aerosp Engn Beijing Peoples R China

In this paper, a new type of fixed-wing vertical take-off and landing, unmanned aerial vehicle (UAV) has been designed. Thrust-vector direct force control has been introduced in three axes to make UAV exhibit superior manoeuverability in transition flight. Considering the characteristics of UAV's dynamic model, which are non-linear, non-affine, and have redundant input, a two-stage progressive optimal control allocation method is developed, which can optimise position and attitude control in synthetical, and motivate effectors to generates desired force and moments. A task-oriented weight selection scheme is proposed to make objective function suitable for different tasks and flight conditions. In addition, a general constraint strategy is designed to guarantee the feasibility of optimal allocation results, which can largely reduce the onboard computation time. Simulations show that UAV can adjust flight attitude and use control effectors in an optimal way, and demonstrating satisfactory tracking of low-speed high-manoeuver flight paths.

关键词： optimal control allocation VTOL thrust vector direct force control transition manoeuver

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