Nonlinearity is ubiquitous in engineering and natural *** development of nonlinear control can be traced back to decades *** date,the research has reached the stage that emphasizes developing methodologies that can ha...
详细信息
Nonlinearity is ubiquitous in engineering and natural *** development of nonlinear control can be traced back to decades *** date,the research has reached the stage that emphasizes developing methodologies that can handle the complexity characterized by uncertainty,
Autonomous vehicles have attracted considerable attention in the research community and industry due to their potential benefits to unmanned driving and assisted driving. This paper addresses the problem of designing ...
详细信息
ISBN:
(纸本)9781467355322
Autonomous vehicles have attracted considerable attention in the research community and industry due to their potential benefits to unmanned driving and assisted driving. This paper addresses the problem of designing lateral control law and the strategy of determining the giving speed for autonomous vehicles. An improved method of calculating lateral offset and angle error based on multiple look-ahead distances is proposed to reduce the impact of noise in reference path data on the lateral control system. Multiple fuzzy inference engines are used to design the steering controller and determine the given driving speed including forward and backward to deal with both simple and complex reference paths. Satisfactory simulation and experimental results have been obtained for different reference paths including a path with U-turn task in which backward driving is needed.
This paper presents a new method based on the polytopic linear differential inclusion and the robust mixed H2/∞ filtering for the design of the nonlinear filter with non-Gaussian noises. The main goal is to solve the...
详细信息
ISBN:
(纸本)9781467355322
This paper presents a new method based on the polytopic linear differential inclusion and the robust mixed H2/∞ filtering for the design of the nonlinear filter with non-Gaussian noises. The main goal is to solve the problems of the complexity and large calculation number in the general nonlinear filter and the filtering design problem for systems with the non-Gaussian noises. The noises considered in the paper involve two different kinds of noises: white noises and energy bounded noises. Differing from the linearization in most nonlinear filters, the estimation error system for the nonlinear system is represented by an uncertain polytopic linear model, based on which, the rectification equations for the predicted errors are designed following the robust mixed H2/∞ filtering. The state estimates for the nonlinear system are given through updating the predictions by the rectified quantities, where, the state predicted quantities of the nonlinear system are gained by the prediction equation of the EKF. The evident advantage of the new filter is the filter coefficients of the rectification equation are constant, without the need to evaluate the Jacobian matrixes. As a result, the calculation number for the new filter is decreased much and the real-time performance of the new filter is much better than the EKF, though the accuracy is a little decline. Its effectiveness is demonstrated by using an example and the statistics result of the calculation number for the filters in the example.
The problem of solving discrete-Time Lyapunov equations (DTLEs) is investigated over multiagent network systems, where each agent has access to its local information and communicates with its neighbors. To obtain a so...
详细信息
Recent years have seen a rising interest in distributed optimization problems because of their widespread applications in power grids, multi-robot control, and regression *** the last few decades, many distributed alg...
Recent years have seen a rising interest in distributed optimization problems because of their widespread applications in power grids, multi-robot control, and regression *** the last few decades, many distributed algorithms have been developed for tackling distributed optimization problems. In these algorithms, agents over the network only have access to their own local functions and exchange information with their neighbors.
Networked controlsystems(NCSs) are facing a great challenge from the limitation of network communication resources. Event-triggered control(ETC) is often used to reduce the amount of communications while still keepin...
详细信息
ISBN:
(纸本)9781467374439
Networked controlsystems(NCSs) are facing a great challenge from the limitation of network communication resources. Event-triggered control(ETC) is often used to reduce the amount of communications while still keeping a satisfactory performance of the system, by transmitting the state measurements only when an event-triggered condition is met. However,some network-induced problems would happen inevitably, such as communication delay. The delay can degrade the control performance significantly and can even lead to instability. In this paper, we study an NCS considering both ETC and time-varying delay, which is rare in the literature. We formulate the system as a discretized piecewise linear system with exponential uncertainty. Then the model is embedded in a polytopic approximation with better structure suitable for stability *** conditions are derived in terms of linear matrix inequalities(LMIs). Finally, the developed method is illustrated by a numerical example.
An optimal time-varying sliding mode controller based on SDRE approach is proposed in this paper for re-entry vehicle attitude control in the presence of parametric uncertainties and external disturbances. Firstly, an...
详细信息
ISBN:
(纸本)9781467355339
An optimal time-varying sliding mode controller based on SDRE approach is proposed in this paper for re-entry vehicle attitude control in the presence of parametric uncertainties and external disturbances. Firstly, an optimal time-varying sliding surface is obtained through the minimization of a given performance index function and the philosophy of time-varying sliding mode control. Subsequently, a discontinuous control law is designed for guaranteeing the existence of the sliding mode throughout the entire response of the system. Therefore, the global robustness can be ensured. Simulation example is finally given to illustrate the effectiveness of the proposed controller.
This paper presents nonlinear robust trajectory tracking strategies for the hypersonic vehicle whose ailerons are stuck at an unknown angular position. Firstly, a time-varying sliding mode control strategy for general...
详细信息
ISBN:
(纸本)9781538629185
This paper presents nonlinear robust trajectory tracking strategies for the hypersonic vehicle whose ailerons are stuck at an unknown angular position. Firstly, a time-varying sliding mode control strategy for general second-order systems is introduced, and the chattering of sliding mode controller is alleviated. Secondly, the dynamics of hypersonic vehicle are transformed into two second-order systems. Then, the corresponding guidance law and attitude controller are designed using time-varying sliding mode controller. By the proposed strategies, the hypersonic vehicle can fly along the reference ***, the proposed strategies are applied to a hypersonic platform to verify its validity.
A chaotic particle swarm optimization (CPSO) algorithm is proposed by introducing chaos state into the original Particle Swarm Optimization (PSO) which aims to solving the flaws of easy plunging into local optimum and...
详细信息
ISBN:
(纸本)9781467355339
A chaotic particle swarm optimization (CPSO) algorithm is proposed by introducing chaos state into the original Particle Swarm Optimization (PSO) which aims to solving the flaws of easy plunging into local optimum and losing search ability in the last period for the fast particle velocity decrease. CPSO algorithm takes advantage of the ergodicity, randomicity, and regularity of chaos to make chaotic searching for the global extremun at the same time with the particle swarm optimization. This algorithm synthesizes the high efficiency of global optimization of PSO algorithm and the ergodicity and randomicity of local search of chaotic algorithm. This paper utilizes aforementioned algorithm to identify the Bouc-Wen hysteresis model for piezoelectric ceramic actuators (PCA). The experimental results show that the model identified by CPSO algorithm has better performance than that by PSO algorithm.
This paper investigates the attitude tracking control problem of reentry vehicle with modeling inaccuracies and external disturbances. An improved nonsingular terminal sliding mode control method is presented, and a f...
详细信息
ISBN:
(纸本)9781509009107
This paper investigates the attitude tracking control problem of reentry vehicle with modeling inaccuracies and external disturbances. An improved nonsingular terminal sliding mode control method is presented, and a faster convergence rate is obtained in comparison with the conventional nonsingular terminal sliding mode control(NTSM). By the proposed control strategy, the possible singularity during the control phase is avoided, and robustness is also guaranteed. Simulation is made for a reentry vehicle in the condition aerodynamic parameters and atmospheric density are perturbed. The results show the effectiveness of the proposed strategies.
暂无评论