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Robust adaptive control of uncertain electric ground vehicles using L1 theory and projection algorithm

INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL 2025年第1期13卷 1-22页

作者： Zarghami, Ashkan Toshani, Hamid Jalebi, Salman Abdi Vrije Univ Brussel Dept Elect & Informat B-1050 Brussels Belgium Univ Cambridge Dept Psychol Cambridge England Univ East Anglia Sch Engn Norwich England

In this study, a robust adaptive control strategy using a L1 theory is applied to fulfil the motion control of a four-wheel electric vehicle. The dynamic model includes longitudinal velocity, lateral velocity, and yaw rate. To develop the proposed control strategy, the vehicle dynamics are decomposed into linear and nonlinear components. The linear part is controlled by fine-tuned state feedback, with its steady-state error addressed by a feedforward control block. The nonlinear part is addressed based on nonlinear adaptive laws and L1 theory to mitigate adverse effects on the linear dynamics, unwanted parameter changes, and external disturbances. An essential component of the proposed approach is the incorporation of a reference model that dictates the desired system responses. A projection algorithm is used to instantly estimate the nonlinear part of the vehicle dynamics. The performance of the closed-loop system is thoroughly evaluated over a range of vehicle manoeuvres, assessing factors such as steady-state accuracy, transient response, and power consumption. In addition, the effectiveness of the proposed method is compared with conventional model reference adaptive control and a recent robust control approach, particularly in terms of robustness to uncertainties inherent in the nonlinear aspects of vehicle dynamics.

关键词： Electric vehicle L1 adaptive control projection algorithm Model uncertainty Motion tracking

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projection algorithm-Based Dynamic Surface Control of Dual-Motor Driving Servo System with Backlash Nonlinearity

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IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES 2018年第10期E101A卷 1646-1657页

作者： Zhao, Haibo Wang, Chengguang Tongling Univ Engn Technol Res Ctr Optoelect Appliance Tongling 244061 Anhui Peoples R China Tongling Univ Dept Elect Engn Tongling 244061 Anhui Peoples R China Sichuan Inst Aerosp Syst Engn Chengdu 610100 Sichuan Peoples R China

Dual-motor driving servo systems are widely used in many military and civil fields. Since backlash nonlinearity affects the dynamic performance and steady-state tracking accuracy of these systems, it is necessary to study a control strategy to reduce its adverse effects. We first establish the state-space model of a system. To facilitate the design of the controller, we simplify the model based on the state-space model. Then, we design an adaptive controller combining a projection algorithm with dynamic surface control applied to a dual-motor driving servo system, which we believe to be the first, and analyze its stability. Simulation results show that projection algorithm-based dynamic surface control has smaller tracking error, faster tracking speed, and better robustness and stability than mere dynamic surface control. Finally, the experimental analysis validates the effectiveness of the proposed control algorithm.

关键词： adaptive control dual-motor driving dynamic surface control projection algorithm backlash nonlinearity

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projection algorithm-based nonlinear observation of internal states in fuel delivery systems with gas diffusion

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JOURNAL OF POWER SOURCES 2021年 483卷 229184-229184页

作者： Deng, Huiwen Cui, Youlong Chen, Weirong Cao, Di Hu, Weihao Univ Elect Sci & Technol China Sch Mech & Elect Engn Chengdu 611731 Peoples R China Southwest Jiaotong Univ Sch Elect Engn Chengdu 610031 Peoples R China Sichuan Railway Investment Grp Co Ltd Chengdu 610041 Peoples R China

In this paper, a nonlinear observer design to estimate different gas species profiles and partial pressures in a fuel delivery system (FDS) with gas permeation is presented. Precise knowledge of critical internal states is of great importance to ensure reliable and efficient operation for FDS. First, a nonlinear isothermal dynamic model including fuel supply, hydrogen consumption, mixture recirculation and exhaust is formulated. Then a nonlinear observer based on projection algorithm is proposed, giving detailed information on internal conditions of FDS online. Without calculation of inverse matrix, the stack output voltage is treated as the only measurable observer input. The voltage estimation error is obtained from the difference between the prediction and the actual measurement, and nonlinear error injection matrix and projection term are employed as correction inputs. Finally, the proposed dynamic state observer is validated and compared with second order sliding mode (SOSM) observer on RT-LAB platform, the results indicate that the observer shows better real-time estimation performance and robustness. Furthermore, the observer demonstrates good robustness in terms of hydrogen partial pressures observation, but less robustness in nitrogen partial pressures estimation. Moreover, the sequence of key system parameters effecting the estimations are analyzed deeply and some conclusions are extracted.

关键词： Proton exchange membrane fuel cell (PEMFC) Fuel delivery system (FDS) projection algorithm Nonlinear observation Robustness

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Two-dimensional adaptive filtering based on projection algorithm

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 2004年第3期52卷 832-838页

作者： Fan, HJ Wen, CY Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

In this paper, we propose a two-dimensional (2-D) projection algorithm by which filter coefficients can be updated both along the horizontal and the vertical directions on a 2-D plane. Some basic properties of the algorithm are derived. In order to compare with other 2-D adaptive algorithms, it is applied to the identification of 2-D systems with stationary or nonstationary characteristics as well as the reduction of image noise. Results show that the proposed 2-D Modified projection algorithm (MPA) achieves good performance for both cases.

关键词： adaptive filtering noise reduction projection algorithm system identification 2-D systems

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A double projection algorithm for multi-valued variational inequalities and a unified framework of the method

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APPLIED MATHEMATICS AND COMPUTATION 2011年第23期217卷 9543-9551页

作者： Fang, Changjie He, Yiran Chongqing Univ Posts & Telecommun Inst Appl Math Chongqing 400065 Peoples R China Sichuan Normal Univ Dept Math Chengdu 610068 Sichuan Peoples R China

In this paper, we propose a double projection algorithm for a generalized variational inequality with a multi-valued mapping. Under standard conditions, our method is proved to be globally convergent to a solution of the variational inequality problem. Moreover, we present a unified framework of projection-type methods for multi-valued variational inequalities. Preliminary computational experience is also reported. (C) 2011 Elsevier Inc. All rights reserved.

关键词： Generalized variational inequality Pseudomonotone mapping Multi-valued mapping projection algorithm Unified framework

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A projection algorithm for set-valued variational inequalities on Hadamard manifolds

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OPTIMIZATION LETTERS 2015年第4期9卷 779-794页

作者： Fang, Chang-jie Chen, Sheng-lan Chongqing Univ Posts & Telecommun Inst Appl Math Chongqing 400065 Peoples R China

A projection algorithm is suggested for the set-valued variational inequality on Hadamard manifold. Under a pseudomonotone assumption on the underlying vector field, our method is proved to be globally convergent to a solution of variational inequality. This algorithm is a natural extension to the Hadamard manifold of the one introduced by Fang and He (Appl Math Comput, 217:9543-9511, 2011) in .

关键词： Set-valued variational inequality Pseudomonotone vector field Hadamard manifold projection algorithm

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A LINESEARCH projection algorithm FOR SOLVING EQUILIBRIUM PROBLEMS WITHOUT MONOTONICITY IN HILBERT SPACES

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JOURNAL OF INDUSTRIAL AND MANAGEMENT OPTIMIZATION 2023年第6期19卷 4641-4662页

作者： Deng, Lanmei Hu, Rong Fang, Yaping Sichuan Univ Coll Math Chengdu Sichuan Peoples R China Sichuan Agr Univ Dept Foundat Courses Dujiangyan Campus Chengdu Sichuan Peoples R China Chengdu Univ Informat Technol Dept Appl Math Chengdu Sichuan Peoples R China

We propose a linesearch projection algorithm for solving non-monotone and non-Lipschitzian equilibrium problems in Hilbert spaces. It is proved that the sequence generated by the proposed algorithm converges strongly to a solution of the equilibrium problem under the assumption that the solution set of the associated Minty equilibrium problem is nonempty. Compared with existing methods, we do not employ Fejer monotonicity in the strategy of proving the convergence. This comes from projecting a fixed point instead of the current point onto a subset of the feasible set at each iteration. Moreover, employing an Armijo-linesearch without subgradient has a great advantage in CPU-time. Some numerical experiments demonstrate the efficiency and strength of the presented algorithm.

关键词： Nonmonotone equilibrium problem Minty equilibrium problem projection algorithm Armijo-linesearch strong convergence

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IUAV Path Planning Using a Multiobjective projection algorithm

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2024年第11期20卷 13069-13076页

作者： Gan, Jianyuan Li, Mingchu Li, Qing Zhang, Runfa Zheng, Xiao Dalian Univ Technol Sch Software Technol Dalian 116024 Peoples R China Jiangxi Normal Univ Nanchang 330022 Peoples R China Shandong Univ Sch Management Jinan 250100 Peoples R China Shanxi Univ Sch Automat & Software Engn Taiyuan 030006 Peoples R China Shandong Univ Technol Sch Comp Sci & Technol Zibo 255049 Peoples R China

For intelligent unmanned aerial vehicles working in complex environments, it is necessary to have a certain autonomous flight control decision-making ability to adapt to complex and changeable environments. In order to realize the rapid path planning of intelligent unmanned aerial vehicle in complex flight environment and ensure its accurate positioning, we consider the constraints of error correction and turning radius and so on, and establish a multiobjective optimization model with the shortest path and the least correction times. In addition, a novel projection algorithm is proposed to solve this model. The evaluation of our proposed method is done from a dataset. We clearly show its effectiveness and its superiority compared to several state-of-the art approaches.

关键词： Path planning Error correction projection algorithms Task analysis Informatics Complexity theory Turning Intelligent unmanned aerial vehicle (IUAV) multiobjective path planning projection algorithm

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Developing a PSO-Based projection algorithm for a Porosity Detection System Using X-RayCT Images of Permeable Concrete

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IEEE ACCESS 2018年 6卷 64406-64415页

作者： Hsieh, Yi-Zeng Su, Mu-Chun Chen, Jieh-Haur Badjie, Bevan Annuerine Su, Yu-Min Natl Taiwan Ocean Univ Dept Elect Engn Keelung 20224 Taiwan Natl Cent Univ Dept Comp Sci & Informat Engn Taoyuan 32001 Taiwan Natl Cent Univ Inst Construct Engn & Management Taoyuan 32001 Taiwan Natl Kaohsiung Univ Appl Sci Dept Civil Engn Kaohsiung 80778 Taiwan

Permeable concrete is widely used as a road surfacing material due to its sturdiness and ability to be quickly repaired. The porosity of concrete has been used as a predictive indicator for the properties of the concrete. Traditional methods for measuring this porosity are feasible but can be time-consuming. In this paper, we propose a particle swarm optimization-based projection algorithm for visualization of the high-dimensional data as a 2-D scatter plot for detecting porosity in permeable concrete from X-ray computerized tomography images. We regard the proposed projection algorithm as an improved version of Sammon's nonlinear mapping. The projected scatter plot allows for a straightforward analysis of the inherent structure of clusters within scanned images. Several data sets, including artificial data sets and real-life imaging data, were tested to demonstrate the performance of the proposed projection algorithm. The model created in this paper can augment the traditional methods for examining porosity by providing visual images for decision makers to make correct decisions for future problems. With an accuracy of >99%, the visualized images provide a clearer understanding of the inner structure of pervious concrete and enhance the study of the correlation between the properties of the concrete.

关键词： Cluster analysis projection algorithm PSO algorithm X-ray computerized tomography (CT) automation computational intelligence

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Approximate subgradient projection algorithm for convex feasibility problem

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Journal of Systems Engineering and Electronics 2010年第3期21卷 527-530页

作者： Li Li Yan Gao Business School University of Shanghai for Science and Technology Shanghai 200093 P. R. China

An ε-subgradient projection algorithm for solving a convex feasibility problem is *** on the iterative projection methods and the notion of ε-subgradient,a series of special projection hyperplanes is ***,compared with the existing projection hyperplanes methods with subgradient,the proposed hyperplanes are interactive with ε,and their ranges are more *** convergence of the proposed algorithm is given under some mild conditions,and the validity of the algorithm is proved by the numerical test.

关键词： ε-subgradient projection algorithm convex feasibility problem.

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